site_xpos is not updating after calling mj_kinematics or mj_forward

Discussion in 'Simulation' started by Phani Teja, Oct 11, 2018 at 6:29 AM.

  1. Hello,

    I have been trying to check simple forward kinematics and see what will be the positions of my sites without using mj_step. However, when I use mj_kinematics or mj_forward none of the values of site_xpos in mj_Data updates. Can you please tell me where I am doing wrong and how can I go about this? Also what does mj_kinematics and mj_forward do internally when I run them? Does it effect anything in mj_Data?