Method update

dm_control/mujoco/engine.py:810–821

Updates geometry used for rendering. Args: scene_option: A custom `wrapper.MjvOption` instance to use to render the scene instead of the default. If None, will use the default.

(self, scene_option=None)

    return image @ focal @ rotation @ translation

  def update(self, scene_option=None):
    """Updates geometry used for rendering.

    Args:
      scene_option: A custom `wrapper.MjvOption` instance to use to render
        the scene instead of the default.  If None, will use the default.
    """
    scene_option = scene_option or self._scene_option
    mujoco.mjv_updateScene(self._physics.model.ptr, self._physics.data.ptr,
                           scene_option.ptr, self._perturb.ptr,
                           self._render_camera.ptr, mujoco.mjtCatBit.mjCAT_ALL,
                           self._scene.ptr)

  def _render_on_gl_thread(self, depth, overlays):
    """Performs only those rendering calls that require an OpenGL context."""