Speed up humanoid's training in MJX notebook

[goncalog]

Summary

This change can result in:

• 1.4x speed up in the humanoid's training in the MJX notebook
• 14% better average reward per episode at the end of the training (improvement is only 7% if ignoring the worst run with each batch_size)

Example runs

Original - batch_size=1024

New - batch_size=512

Experiment results

Ran the tutorial notebook 5 times with each batch_size on Colab with a T4 GPU runtime, and this reduced the training time from 18min to 13min with better reward per episode:

[google-cla]

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[btaba]

Thanks for the contribution! Can you please sign the CLA? https://github.com/google-deepmind/mujoco/pull/1465/checks?check_run_id=22203814795