Improve XML schema usability

PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35

doc/APIreference/APIfunctions.rst

@@ -9,6 +9,9 @@
 Functions
 =========
 
+.. tip::
+   Clicking on a function name below will take you to the source implementation in the GitHub repository.
+
 The main header `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a
 large number of functions. However the functions that most users are likely to need are a small fraction.
 

doc/APIreference/functions.rst

@@ -1076,7 +1076,7 @@ This function is triggered automatically if the following sensors are present in
 It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
 
 The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
-the effect of spatial tendons, see :github:issue:`832`.
+the effect of spatial tendons, see :issue:`832`.
 
 .. _mj_collision:
 

doc/APIreference/functions_override.rst

@@ -170,7 +170,7 @@ This function is triggered automatically if the following sensors are present in
 It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
 
 The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
-the effect of spatial tendons, see :github:issue:`832`.
+the effect of spatial tendons, see :issue:`832`.
 
 .. _mj_constraintUpdate:
 

doc/conf.py

@@ -51,6 +51,7 @@ extensions = [
     'sphinxcontrib.katex',
     'sphinxcontrib.youtube',
     'sphinx_copybutton',
+    'sphinx_design',
     'sphinx_favicon',
     'sphinx_reredirects',
     'sphinx_toolbox.collapse',

doc/css/theme_overrides.css

@@ -227,6 +227,7 @@ table.mjcf-attributes {
   border-style: none;
   margin-left: 0;
   margin-right: 0;
+  margin-bottom: 0.2em;
   width: 100%;
   box-shadow: none;
 }
@@ -308,3 +309,49 @@ dt .at {
 details summary {
   font-weight: 600;
 }
+
+/* Compact schema dropdowns */
+.schema-small details.sd-dropdown {
+  margin-bottom: 0.15em !important;
+  margin-top: 0 !important;
+}
+
+.schema-small .sd-card-header {
+  padding: 0.25em 0.5em !important;
+}
+
+.schema-small .sd-card-body {
+  padding: 0.25em 0.5em !important;
+}
+
+.schema-small .sd-summary-text {
+  font-size: 0.9em;
+  margin: 0 !important;
+}
+
+/* Prevent visited link color change in schema - use brand color */
+.schema-small a:visited {
+  color: var(--color-brand-primary) !important;
+}
+
+/* Hierarchy visualization - left border for all dropdowns including top-level */
+.schema-small .sd-dropdown,
+.schema-small > .sd-dropdown,
+.schema-small details.sd-dropdown {
+  border-left: 2px solid #5671cf;
+}
+
+/* Dark mode - slightly brighter blue for visibility */
+body[data-theme="dark"] .schema-small .sd-dropdown,
+body[data-theme="dark"] .schema-small > .sd-dropdown,
+body[data-theme="dark"] .schema-small details.sd-dropdown {
+  border-left-color: #7b93e8;
+}
+
+@media (prefers-color-scheme: dark) {
+  body[data-theme="auto"] .schema-small .sd-dropdown,
+  body[data-theme="auto"] .schema-small > .sd-dropdown,
+  body[data-theme="auto"] .schema-small details.sd-dropdown {
+    border-left-color: #7b93e8;
+  }
+}

doc/includes/macros.rst

@@ -31,3 +31,24 @@
 
 .. |-| unicode:: U+2060
    :trim:
+
+..
+   Macro for icon for required element, can appear only once.
+
+.. |!| replace:: :octicon:`star`
+
+..
+   Macro for icon for optional element, can appear only once.
+
+.. |?| replace:: :octicon:`dot`
+
+..
+   Macro for icon for optional element, can appear multiple times (no icon).
+
+.. |m| unicode:: U+200B
+   :trim:
+
+..
+   Macro for icon for optional element that can appear recursively.
+
+.. |R| replace:: :octicon:`sync`

doc/programming/index.rst

@@ -117,7 +117,7 @@ target directory.
 **Notes:**
 
 - When building on Windows, use Visual Studio 2019 or later and make sure Windows SDK version 10.0.22000 or later is
-  installed (see :github:issue:`862` for more details).
+  installed (see :issue:`862` for more details).
 - To optimize runtime performance build with ``-DCMAKE_BUILD_TYPE=Release``
 
 .. tip::

doc/requirements.txt

@@ -4,6 +4,7 @@ sphinxcontrib-bibtex==2.6.3
 sphinxcontrib-katex==0.9.4
 sphinxcontrib-youtube==1.2.0
 sphinx-copybutton==0.5.2
+sphinx-design==0.6.1
 sphinx-favicon==1.0.1
 sphinx-reredirects==0.1.1
 sphinx-toolbox==3.8.2