Add MuJoCo tutorial Colab using the native Python bindings.

PiperOrigin-RevId: 491424124
Change-Id: I5bdeb68fd1bd1b4bc92fb40e0b876d9dcfc568cb

README.md

@@ -75,12 +75,13 @@ the [Getting Started] section of the documentation to get `simulate` running on
 your machine.
 
 2. **Explore our online IPython notebooks.**
-If you are a Python user, you might want to start with our tutorial notebooks,
+If you are a Python user, you might want to start with our tutorial notebooks
 running on Google Colab:
 
-  - The first tutorial focuses on the basic MuJoCo Python bindings: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/dm_control/blob/main/dm_control/mujoco/tutorial.ipynb)
-
-  - The second tutorial includes more examples of `dm_control`-specific functionality: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/dm_control/blob/main/tutorial.ipynb)
+ - The first tutorial focuses on the basics of MuJoCo: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/tutorial.ipynb)
+ - For a more advanced example, see the LQR tutorial which creates an LQR
+   controlled to balance a humanoid on one leg using MuJoCo's dynamics
+   derivatives: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb)
 
 ## Asking Questions
 

doc/python.rst

@@ -19,8 +19,16 @@ previous versions, however code that depended directly on its low-level API may
 
 For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration.
 
+Tutorial notebook
+=================
+
+A MuJoCo tutorial using the Python bindings is available here: |colab|
+
+.. |colab| image:: https://colab.research.google.com/assets/colab-badge.svg
+           :target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/tutorial.ipynb
+
 Installation
-------------
+============
 
 The package can be installed from `PyPI <https://pypi.org/project/mujoco/>`__ via
 
@@ -383,5 +391,4 @@ all inputs including ``time`` and ``qacc_warmstart`` are set to default values,
 (``qfrc_applied``, ``xfrc_applied`` and ``mocap_{pos,quat}``). These can also be optionally set by the user.
 
 Since the Global Interpreter Lock can be released, this function can be efficiently threaded using Python threads. See
-the ``test_threading`` function in ``rollout_test.py`` for an example of threaded operation.
-
+the ``test_threading`` function in ``rollout_test.py`` for an example of threaded operation.

python/README.md

@@ -102,6 +102,10 @@ Once installed, the package can be imported via `import mujoco`. Please consult
 our [documentation](https://mujoco.readthedocs.io/en/latest/python.html) for
 further detail on the package's API.
 
+We recommend going through the tutorial notebook which covers the basics of
+MuJoCo using Python:
+[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/tutorial.ipynb)
+
 ## Versioning
 
 The `major.minor.micro` portion of the version number matches the version of