Add documentation image variants compatible with dark mode. Fixes #587
PiperOrigin-RevId: 596265596 Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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feb92bf535
commit
c79e1e5d01
@@ -520,8 +520,14 @@ in the surrounding flow a circulation of sufficient strength to hold the rear st
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This is the Kutta condition, a fluid dynamic phenomenon that can be observed for solid bodies with sharp corners, such
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as slender bodies or the trailing edges of airfoils.
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.. cssclass:: caption-small
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.. figure:: ../images/computation/kutta_cond_plate.svg
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:class: only-light
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:figwidth: 95%
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:align: left
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.. cssclass:: caption-small
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.. figure:: ../images/computation/kutta_cond_plate_dark.svg
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:class: only-dark
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:figwidth: 95%
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:align: left
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@@ -966,6 +966,12 @@ is :math:`E f`. The matrix of basis vectors is constructed as follows.
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.. image:: ../images/computation/contact_frame.svg
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:width: 700px
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:align: center
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:class: only-light
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.. image:: ../images/computation/contact_frame_dark.svg
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:width: 700px
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:align: center
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:class: only-dark
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The figure illustrates the full basis set corresponding to the case :math:`n = 6`. Otherwise we use only the first
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:math:`n` or :math:`2(n-1)` columns depending on the cone type. Elliptic cones are easier to understand. Since the
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@@ -1325,6 +1331,12 @@ representations of the constraint Jacobian and related matrices.
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.. image:: ../images/computation/gPGS.svg
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:width: 500px
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:align: center
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:class: only-light
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.. image:: ../images/computation/gPGS_dark.svg
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:width: 500px
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:align: center
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:class: only-dark
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When using pyramidal friction cones, the problem involves box constraints to which PGS has traditionally been
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applied. If we applied PGS directly to the conic constraints resulting from elliptic friction cones, it would get
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@@ -1424,12 +1436,18 @@ approximations, no matter how accurate the approximation is. The figure below il
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where the pyramid is not even an approximation, but represents the same constraint set as the elliptic cone. We plot the
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contours of the penalty/shadow for the pyramidal (red) and elliptic (dashed blue) cones, for different friction
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coefficients varying from left to right. Mathematically, the penalty in the pyramidal case is a quadratic spline, while
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the penalty in the elliptic case contains pieces that are quadratics minus square roots of quadratics - allowing
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the penalty in the elliptic case contains pieces that are quadratics minus square roots of quadratics -- allowing
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circular contours around the tip of the cone.
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.. image:: ../images/computation/softcontact.png
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:width: 600px
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:align: center
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:class: only-light
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.. image:: ../images/computation/softcontact_dark.png
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:width: 600px
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:align: center
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:class: only-dark
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In summary, elliptic and pyramidal friction cones define different soft-contact dynamics (although they are usually very
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close). The elliptic model is more principled and more consistent with physical intuition, and the corresponding solvers
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@@ -0,0 +1,296 @@
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<text class="cls-13" transform="translate(135.06 107.05)"><tspan x="0" y="0">y</tspan></text>
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<text class="cls-13" transform="translate(181.5 131.54)"><tspan x="0" y="0">x</tspan></text>
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<text/>
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<g class="cls-9">
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<g class="cls-14">
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<text class="cls-15" transform="translate(519.74 114.58)"><tspan x="0" y="0">α</tspan></text>
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</svg>
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+30
-12
@@ -318,7 +318,15 @@ of the function :math:`d(r)` is determined by the element-specific parameter vec
|
||||
units of :math:`\text{width}`. Note that when :math:`\text{power}` is 1, the function is linear regardless of the
|
||||
:math:`\text{midpoint}`.
|
||||
|
||||
|image0|
|
||||
.. image:: images/modeling/impedance.png
|
||||
:width: 600px
|
||||
:align: center
|
||||
:class: only-light
|
||||
|
||||
.. image:: images/modeling/impedance_dark.png
|
||||
:width: 600px
|
||||
:align: center
|
||||
:class: only-dark
|
||||
|
||||
These plots show the impedance :math:`d(r)` on the vertical axis, as a function of the constraint violation :math:`r`
|
||||
on the horizontal axis.
|
||||
@@ -865,7 +873,15 @@ The advantage of the scaled quantities is that all muscles behave similarly in t
|
||||
captured by the Force-Length-Velocity (:math:`\text{\small FLV}`) function measured in many experimental papers. We
|
||||
approximate this function as follows:
|
||||
|
||||
|image1|
|
||||
.. image:: images/modeling/musclemodel.png
|
||||
:width: 650px
|
||||
:align: center
|
||||
:class: only-light
|
||||
|
||||
.. image:: images/modeling/musclemodel_dark.png
|
||||
:width: 650px
|
||||
:align: center
|
||||
:class: only-dark
|
||||
|
||||
The function is in the form:
|
||||
|
||||
@@ -907,7 +923,15 @@ Before embarking on a mission to design more accurate :math:`\text{\small FLV}`
|
||||
operating range of the muscle has a bigger effect than the shape of the :math:`\text{\small FLV}` function, and in many
|
||||
cases this parameter is unknown. Below is a graphical illustration:
|
||||
|
||||
|image2|
|
||||
.. image:: images/modeling/musclerange.png
|
||||
:width: 500px
|
||||
:align: center
|
||||
:class: only-light
|
||||
|
||||
.. image:: images/modeling/musclerange_dark.png
|
||||
:width: 500px
|
||||
:align: center
|
||||
:class: only-dark
|
||||
|
||||
This figure format is common in the biomechanics literature, showing the operating range of each muscle superimposed on
|
||||
the normalized :math:`\text{FL}` curve (ignore the vertical displacement). Our default range is shown in black. The blue
|
||||
@@ -1311,7 +1335,9 @@ A flex is a collection of MuJoCo bodies that are connected with massless stretch
|
||||
capsules (1D flex), triangles (2D flex), or tetrahedra (3D flex). In all cases we allow a radius, which makes the
|
||||
elements smooth and also volumetric in 1D and 2D. The primitive elements are illustrated below:
|
||||
|
||||
|flexelem|
|
||||
.. image:: images/modeling/flexelem.png
|
||||
:width: 600px
|
||||
:align: center
|
||||
|
||||
Thus far these look like geoms. But the key difference is that they deform: as the bodies (vertices) move independently
|
||||
of each other, the shape of the elements changes in real time. Collisions and contact forces are now generalized to
|
||||
@@ -1677,12 +1703,6 @@ in a visible way, and the energy fluctuates around the initial value instead of
|
||||
</worldbody>
|
||||
|
||||
|
||||
.. |image0| image:: images/modeling/impedance.png
|
||||
:width: 600px
|
||||
.. |image1| image:: images/modeling/musclemodel.png
|
||||
:width: 650px
|
||||
.. |image2| image:: images/modeling/musclerange.png
|
||||
:width: 400px
|
||||
.. |image3| image:: images/modeling/tendonwraps.png
|
||||
:width: 500px
|
||||
.. |image4| image:: images/modeling/particle.png
|
||||
@@ -1719,8 +1739,6 @@ in a visible way, and the energy fluctuates around the initial value instead of
|
||||
:height: 250px
|
||||
.. |particle| image:: images/models/particle.gif
|
||||
:width: 270px
|
||||
.. |flexelem| image:: images/modeling/flexelem.png
|
||||
:width: 400px
|
||||
.. |bunny1| image:: images/modeling/bunny1.png
|
||||
:width: 300px
|
||||
.. |bunny2| image:: images/modeling/bunny2.png
|
||||
|
||||
Reference in New Issue
Block a user