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Merge pull request #1392 from alefram:fix-mj_forward-link

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PiperOrigin-RevId: 604116464
Change-Id: If4de574e0206c46a98c03949e7123178be73f6c3
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Copybara-Service
2024-02-04 09:49:27 -08:00
parent eb844a4b77 f3b48edf2b
commit 66a8bef6fa
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python/tutorial.ipynb
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@@ -466,7 +466,7 @@
"source": [
"Hmmm, why the black pixels?\n",
"\n",
"**Answer:** For the same reason as above, we first need to propagate the values in `mjData`. This time we'll call [`mj_forward`](https://mujoco.readthedocs.io/en/latest/APIreference.html#mj-forward), which invokes the entire pipeline up to the computation of accelerations i.e., it computes $\\dot x = f(x)$, where $x$ is the state. This function does more than we actually need, but unless we care about saving computation time, it's good practice to call `mj_forward` since then we know we are not missing anything.\n",
"**Answer:** For the same reason as above, we first need to propagate the values in `mjData`. This time we'll call [`mj_forward`](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mj-forward), which invokes the entire pipeline up to the computation of accelerations i.e., it computes $\\dot x = f(x)$, where $x$ is the state. This function does more than we actually need, but unless we care about saving computation time, it's good practice to call `mj_forward` since then we know we are not missing anything.\n",
"\n",
"We also need to update the `mjvScene` which is an object held by the renderer describing the visual scene. We'll later see that the scene can include visual objects which are not part of the physical model."
]