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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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wasm/codegen/generated/bindings.cc
+5
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@@ -8021,6 +8021,10 @@ void mj_fwdConstraint_wrapper(const MjModel& m, MjData& d) {
mj_fwdConstraint(m.get(), d.get());
}
void mj_fwdKinematics_wrapper(const MjModel& m, MjData& d) {
mj_fwdKinematics(m.get(), d.get());
}
void mj_fwdPosition_wrapper(const MjModel& m, MjData& d) {
mj_fwdPosition(m.get(), d.get());
}
@@ -12325,6 +12329,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mj_fwdAcceleration", &mj_fwdAcceleration_wrapper);
function("mj_fwdActuation", &mj_fwdActuation_wrapper);
function("mj_fwdConstraint", &mj_fwdConstraint_wrapper);
function("mj_fwdKinematics", &mj_fwdKinematics_wrapper);
function("mj_fwdPosition", &mj_fwdPosition_wrapper);
function("mj_fwdVelocity", &mj_fwdVelocity_wrapper);
function("mj_geomDistance", &mj_geomDistance_wrapper);