diff --git a/doc/programming.rst b/doc/programming.rst index 6c8756ae..d9820d41 100644 --- a/doc/programming.rst +++ b/doc/programming.rst @@ -1677,7 +1677,7 @@ Prior to MuJoCo version 1.40, user code had to maintain a collection of objects All these objects are now grouped into the data structure :ref:`mjvPerturb`. Its use is illustrated in :ref:`simulate.cc `. The idea is to select a MuJoCo body of interest, and provide a reference pose (i.e., a 3D position and quaternion -orientation) for that body. These are stored in mjPerturb.respos/quat. The function :ref:`mjv_movePerturb` is a mouse +orientation) for that body. These are stored in mjPerturb.refpos/quat. The function :ref:`mjv_movePerturb` is a mouse hook for controlling the reference pose with the mouse. The function :ref:`mjv_initPerturb` is used to set the reference pose equal to the selected body pose at the onset of perturbation, so as to avoid jumps.