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
@@ -67,6 +67,9 @@ MJAPI void mj_implicitSkip(const mjModel *m, mjData *d, int skipfactor);

 //-------------------------------- solver components -----------------------------------------------

+// all kinematics-like computations
+MJAPI void mj_fwdKinematics(const mjModel* m, mjData* d);
+
 // computations that depend only on qpos
 MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);