From 1eb708646d0b9fb09d104959305b205ead9e8bd4 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 19 Jun 2024 08:40:53 -0700 Subject: [PATCH] Update the `simulate` tutorial video. The new video is more comprehensive and covers more features of MuJoCo. PiperOrigin-RevId: 644758072 Change-Id: I1f114746833e00cd61b27659c816316c0e72c46c --- README.md | 2 +- doc/changelog.rst | 12 ++++++++++++ doc/programming/samples.rst | 4 ++-- 3 files changed, 15 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 7ce14c2d..06c5f29d 100644 --- a/README.md +++ b/README.md @@ -41,7 +41,7 @@ release can be found in the [changelog] in the latest branch. There are two easy ways to get started with MuJoCo: 1. **Run `simulate` on your machine.** -[This video](https://www.youtube.com/watch?v=0ORsj_E17B0) shows a screen capture +[This video](https://www.youtube.com/watch?v=P83tKA1iz2Y) shows a screen capture of `simulate`, MuJoCo's native interactive viewer. Follow the steps described in the [Getting Started] section of the documentation to get `simulate` running on your machine. diff --git a/doc/changelog.rst b/doc/changelog.rst index babd164c..ff007373 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -32,6 +32,18 @@ MJX 8. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings. 9. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients. + +.. youtube:: P83tKA1iz2Y + :align: right + :width: 360px + +Simulate +^^^^^^^^ +10. Added improved tutorial video. +11. Improved the Brownian noise generator. + +|br| |br| |br| |br| + Version 3.1.6 (Jun 3, 2024) --------------------------- diff --git a/doc/programming/samples.rst b/doc/programming/samples.rst index 92987a49..40cbd434 100644 --- a/doc/programming/samples.rst +++ b/doc/programming/samples.rst @@ -84,7 +84,7 @@ data plots. The model file can be specified as a command-line argument, or loade functionality. This code sample uses the native UI to render various controls, and provides an illustration of how the new UI framework is intended to be used. Below is a screen-capture of ``simulate`` in action: -.. youtube:: 0ORsj_E17B0 +.. youtube:: P83tKA1iz2Y :width: 95% :align: center @@ -94,7 +94,7 @@ selected object by holding Ctrl and dragging the mouse. Dragging the mouse alone are keyboard shortcuts for pausing the simulation, resetting, and re-loading the model file. The latter functionality is very useful while editing the model in an XML editor. -The code is quite long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview. +The code is long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview. The ``main()`` function initializes both MuJoCo and GLFW, opens a window, and install GLFW callbacks for mouse and keyboard handling. Note that there is no render callback; GLFW puts the user in charge, instead of running a rendering loop behind the scenes. The main loop handles UI events and rendering. The simulation is handled in a background