[JAX] Replace jnp.clip(..., a_min=..., a_max=...) with jnp.clip(..., min=..., max=...).

a_min and a_max are deprecated parameter names to jax.numpy.clip.

PiperOrigin-RevId: 891776337
Change-Id: I5692b7fbb6d16c62eae188c012d9450463b4b6dd

Author: hawkinsp

mujoco_playground/_src/manipulation/franka_emika_panda_robotiq/push_cube.py

@@ -469,7 +469,7 @@ def _get_reward(
   def _orientation_error(self, object_quat, target_quat) -> jax.Array:
     quat_diff = math.quat_mul(object_quat, math.quat_inv(target_quat))
     quat_diff = math.normalize(quat_diff)
-    ori_error = 2.0 * jp.asin(jp.clip(math.norm(quat_diff[1:]), a_max=1.0))
+    ori_error = 2.0 * jp.asin(jp.clip(math.norm(quat_diff[1:]), max=1.0))
     return ori_error
 
   def _get_obs(self, state: mjx_env.State) -> jax.Array:

mujoco_playground/_src/manipulation/leap_hand/reorient.py

@@ -423,7 +423,7 @@ def _cube_orientation_error(self, data: mjx.Data):
     cube_goal_ori = self.get_cube_goal_orientation(data)
     quat_diff = math.quat_mul(cube_ori, math.quat_inv(cube_goal_ori))
     quat_diff = math.normalize(quat_diff)
-    return 2.0 * jp.asin(jp.clip(math.norm(quat_diff[1:]), a_max=1.0))
+    return 2.0 * jp.asin(jp.clip(math.norm(quat_diff[1:]), max=1.0))
 
   def _reward_cube_orientation(self, data: mjx.Data) -> jax.Array:
     ori_error = self._cube_orientation_error(data)