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

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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
This commit is contained in:
Yuval Tassa
2025-12-01 07:38:12 -08:00
committed by Copybara-Service
parent 4c40d5938e
commit 19e2d0ae2f
11 changed files with 89 additions and 14 deletions
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doc/includes/references.h
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@@ -3132,6 +3132,7 @@ int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
void mj_printScene(const mjvScene* s, const char* filename);
void mj_printFormattedScene(const mjvScene* s, const char* filename,
const char* float_format);
void mj_fwdKinematics(const mjModel* m, mjData* d);
void mj_fwdPosition(const mjModel* m, mjData* d);
void mj_fwdVelocity(const mjModel* m, mjData* d);
void mj_fwdActuation(const mjModel* m, mjData* d);