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Docs: fix mixed-up forward dynamics stages.

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PiperOrigin-RevId: 732465925
Change-Id: I8d350e398d749076cc5f24cd33fa1ee87876e426
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Yuval Tassa
2025-03-01 09:33:34 -08:00
committed by Copybara-Service
parent 7651cb1b33
commit 6c8cf82f27
1 changed files with 3 additions and 3 deletions
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doc/computation/index.rst
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@@ -1690,14 +1690,14 @@ The stages below compute quantities that depend on the generalized positions ``m
3. Compute the body inertias and joint axes, in global frames centered at the centers of mass of the corresponding
kinematic subtrees: :ref:`mj_comPos`
4. Compute quantities related to :ref:`flex<deformable-flex>` objects: :ref:`mj_flex`
5. Compute the actuator lengths and moment arms: :ref:`mj_tendon`
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`
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`
9. Construct the constraint Jacobian and compute the constraint residuals: :ref:`mj_makeConstraint`
10. Compute the tendon lengths and moment arms. This includes the computation of minimal-length paths for spatial
tendons: :ref:`mj_transmission`
10. Compute the actuator lengths and moment arms: :ref:`mj_transmission`
11. Compute the matrices and vectors needed by the constraint solvers: :ref:`mj_projectConstraint`
12. Compute sensor data that only depends on position, and the potential energy if enabled: :ref:`mj_sensorPos`,
:ref:`mj_energyPos`