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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": [ "source": [
"Hmmm, why the black pixels?\n", "Hmmm, why the black pixels?\n",
"\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", "\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." "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."
] ]