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- Add floating changes to changelog.

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- Add sections about the state and derivatives to the Computation chapter.

PiperOrigin-RevId: 459032736
Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
This commit is contained in:
Yuval Tassa
2022-07-05 02:17:32 -07:00
committed by Copybara-Service
parent 6d01627c0b
commit d3a86bb748
7 changed files with 240 additions and 56 deletions
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doc/programming.rst
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@@ -340,11 +340,11 @@ illustration of how the new UI framework is intended to be used. Below is a scre
.. youtube:: 0ORsj_E17B0
:align: center
Interaction is done with the mouse; see the built-in help for summary of available commands. Briefly, an object is
selected by left-double-click. The user can then apply forces and torques on the selected object by holding Ctrl and
dragging the mouse. Dragging the mouse alone (without Ctrl) moves the camera. There 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.
Interaction is done with the mouse; built-in help with a summary of available commands is available by pressing the 'F1'
key. Briefly, an object is selected by left-double-click. The user can then apply forces and torques on the selected
object by holding Ctrl and dragging the mouse. Dragging the mouse alone (without Ctrl) moves the camera. There 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 ``main()`` function initializes both MuJoCo and GLFW, opens a window, and install GLFW callbacks for mouse and