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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 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` kinematic subtrees: :ref:`mj_comPos`
4. Compute quantities related to :ref:`flex<deformable-flex>` objects: :ref:`mj_flex` 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` 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` 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: 8. Construct the list of active contacts. This includes both broad-phase and near-phase collision detection:
:ref:`mj_collision` :ref:`mj_collision`
9. Construct the constraint Jacobian and compute the constraint residuals: :ref:`mj_makeConstraint` 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 10. Compute the actuator lengths and moment arms: :ref:`mj_transmission`
tendons: :ref:`mj_transmission`
11. Compute the matrices and vectors needed by the constraint solvers: :ref:`mj_projectConstraint` 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`, 12. Compute sensor data that only depends on position, and the potential energy if enabled: :ref:`mj_sensorPos`,
:ref:`mj_energyPos` :ref:`mj_energyPos`