Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.

PiperOrigin-RevId: 838768130 Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:38:12 -08:00
parent 4c40d5938e
commit 19e2d0ae2f
11 changed files with 89 additions and 14 deletions
@@ -715,6 +715,15 @@ Components
 These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and
 :ref:`mj_inverse`. It is unlikely that the user will need to call them.

+.. _mj_fwdKinematics:
+
+`mj_fwdKinematics <#mj_fwdKinematics>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_fwdKinematics
+
+Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).
+
 .. _mj_fwdPosition:

 `mj_fwdPosition <#mj_fwdPosition>`__