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

PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005

python/mujoco/functions.cc

@@ -214,6 +214,7 @@ PYBIND11_MODULE(_functions, pymodule) {
       });
 
   // Components
+  Def<traits::mj_fwdKinematics>(pymodule);
   Def<traits::mj_fwdPosition>(pymodule);
   Def<traits::mj_fwdVelocity>(pymodule);
   Def<traits::mj_fwdActuation>(pymodule);

python/mujoco/introspect/functions.py

@@ -1498,6 +1498,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Print scene to text file, specifying format. float_format must be a valid printf-style format string for a single float value.',  # pylint: disable=line-too-long
      )),
+    ('mj_fwdKinematics',
+     FunctionDecl(
+         name='mj_fwdKinematics',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).',  # pylint: disable=line-too-long
+     )),
     ('mj_fwdPosition',
      FunctionDecl(
          name='mj_fwdPosition',