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
@@ -18,6 +18,8 @@ General
  flex object is similar to the "trilinear" option, but it includes curved deformations.
 - Raise an error if there are name collisions also during parsing.
 - Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
+- Added a new pipeline component function :ref:`mj_fwdKinematics` that combines all kinematics-like sub-components.
+  Relatedly, added a clarifying table at the top of the :ref:`Simulation Pipeline<Pipeline>` chapter.
 - Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
  :ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
 - Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to another.