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Expose mj_makeM as a sub-component.

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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
This commit is contained in:
Yuval Tassa
2025-05-27 00:33:27 -07:00
committed by Copybara-Service
parent 4a102c37bc
commit 89e39dc0a7
12 changed files with 58 additions and 10 deletions
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doc/computation/index.rst
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@@ -1692,7 +1692,7 @@ The stages below compute quantities that depend on the generalized positions ``m
4. Compute quantities related to :ref:`flex<deformable-flex>` objects: :ref:`mj_flex`
5. Compute the tendon lengths and moment arms. This includes the computation of minimal-length paths for spatial
tendons: :ref:`mj_tendon`
6. Compute the composite rigid body inertias and joint-space inertia matrix: :ref:`mj_crb`
6. Compute the composite rigid body inertias and joint-space inertia matrix: :ref:`mj_makeM`
7. Compute the sparse factorization of the joint-space inertia matrix: :ref:`mj_factorM`
8. Construct the list of active contacts. This includes both broad-phase and near-phase collision detection:
:ref:`mj_collision`