Improve rendering of [state section](https://mujoco.readthedocs.io/en/latest/computation.html?highlight=qfrc_applied#the-state) in documentation.

PiperOrigin-RevId: 526023870
Change-Id: If650cefa0cc6c22d63e909fb763767a77067af4e

doc/computation.rst

@@ -569,17 +569,17 @@ resetting the state and computing dynamics derivatives are also well-defined. Th
 
 Physics state
 ^^^^^^^^^^^^^
-| The *physics state* contains all quantities which are time-integrated during stepping.
-| They are ``mjData.{qpos, qvel, act, time}``:
+The *physics state* contains all quantities which are time-integrated during stepping.
+These are ``mjData.{qpos, qvel, act, time}``:
 
-  Mechanical state: ``qpos`` and ``qvel``
+Mechanical state: ``qpos`` and ``qvel``
   The *mechanical state* of a simulation is given by the generalized position (``mjData.qpos``) and velocity
   (``mjData.qvel``) vectors, denoted above as :math:`q` and :math:`v`, respectively.
 
-  Actuator activations: ``act``
+Actuator activations: ``act``
   ``mjData.act`` contains the internal states of stateful actuators, denoted above as :math:`w`.
 
-  Time: ``time``
+Time: ``time``
   The time of the simulation is given by the scalar ``mjData.time``. Since physics is time-invariant, it is
   often excluded from the *physics state*; an exception could be a time-dependent user callback (e.g., an open-loop
   controller), in which case time should be included.
@@ -591,25 +591,25 @@ User inputs
 These input fields are set by the user and affect the physics simulation, but are untouched by the simulator. All input
 fields except for MoCap poses default to 0.
 
-  Controls: ``ctrl``
+Controls: ``ctrl``
   Controls are defined by the :ref:`actuator<actuator>` section of the XML. ``mjData.ctrl`` values either produce
   generalized forces directly (stateless actuators), or affect the actuator activations in ``mjData.act``, which then
   produce forces.
 
-  Auxillary Controls: ``qfrc_applied`` and ``xfrc_applied``
+Auxillary Controls: ``qfrc_applied`` and ``xfrc_applied``
   | ``mjData.qfrc_applied`` are directly applied generalized forces.
   | ``mjData.xfrc_applied`` are Cartesian wrenches applied to the CoM of individual bodies. This field is used for
     example, by the :ref:`native viewer<saSimulate>` to apply mouse perturbations.
   | Note that the effects of ``qfrc_applied`` and ``xfrc_applied`` can usually be recreated by appropriate actuator
     definitions.
 
-  MoCap poses: ``mocap_pos`` and ``mocap_quat``
+MoCap poses: ``mocap_pos`` and ``mocap_quat``
   ``mjData.mocap_pos`` and ``mjData.mocap_quat`` are special optional kinematic states :ref:`described here<CMocap>`,
   which allow the user to set the positions and orientations of static bodies in real-time, for example when streaming
   6D poses from a motion-capture device. The default values set by :ref:`mj_resetData` are the poses of the bodies at
   the default configuration.
 
-  User data: ``userdata``
+User data: ``userdata``
   ``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by
   callbacks. This is described in more detail in the :ref:`Programming chapter<siSimulation>`.
 
@@ -618,7 +618,7 @@ fields except for MoCap poses default to 0.
 Warmstart accelerations
 ^^^^^^^^^^^^^^^^^^^^^^^
 
-  ``qacc_warmstart``
+``qacc_warmstart``
   ``mjData.qacc_warmstart`` are accelerations used to warmstart the constraint solver, saved from the previous step.
   When using a slowly-converging :ref:`constraint solver<Solver>` like PGS, these can speed up simulation by reducing
   the number of iterations required for convergence. Note however that the default Newton solver converges so quickly
@@ -635,7 +635,7 @@ Warmstart accelerations
 Plugin state
 ^^^^^^^^^^^^
 
-  ``plugin_state``
+``plugin_state``
   ``mjData.plugin_state`` are states declared by :ref:`engine plugins<exPlugin>`. Please see the :ref:`exPluginState`
   section for more details.