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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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include/mujoco/mujoco.h
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@@ -328,6 +328,9 @@ MJAPI void mj_printFormattedScene(const mjvScene* s, const char* filename,
//---------------------------------- Components ----------------------------------------------------
// Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).
MJAPI void mj_fwdKinematics(const mjModel* m, mjData* d);
// Run position-dependent computations.
MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);