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Improve rendering of dynamics pipeline schematic

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PiperOrigin-RevId: 838865159
Change-Id: I225e94508be7edb8f8217ec5abb2f609cbb39ae5
This commit is contained in:
Yuval Tassa
2025-12-01 11:35:11 -08:00
committed by Copybara-Service
parent b663b7602b
commit e095bb6d41
2 changed files with 19 additions and 16 deletions
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doc/computation/index.rst
+18 -16
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@@ -1738,8 +1738,8 @@ contains the high-level forward dynamics pipeline.
Top level
^^^^^^^^^
- The top-level function :ref:`mj_step` invokes the entire sequence of computations below.
- :ref:`mj_forward` invokes only stages **2-22**, computing the continuous-time forward dynamics, ending with the
- The top-level function :ref:`mj_step` invokes the entire sequence of stages below **1-26**.
- :ref:`mj_forward` invokes only stages **2-23**, computing the continuous-time forward dynamics, ending with the
acceleration ``mjData.qacc``.
- :ref:`mj_step1` invokes stages **1-19** and :ref:`mj_step2` invokes stages **20-26**, breaking :ref:`mj_step` into two
distinct phases. This allows the user to write controllers that depend on quantities derived from the positions and
@@ -1749,22 +1749,24 @@ Top level
.. the table below was created and is editable in tablesgenerator.com
.. table:: Breakdown of the forward dynamic pipeline
Schematic breakdown of the forward dynamic pipeline:
.. table::
:class: small-centered no-stripes
+-------------------------+----------------------------------------------------------------------------------------------------------------------+
| top-level functions | :ref:`mj_step` |
| +------------------------------------------------------------------------------------+---------------------------------+
| | :ref:`mj_step1` | :ref:`mj_step2` |
| +------------------------------------------------------------------------------------+-------------+-------+-----------+
| | :ref:`mj_forward` | | |
+-------------------------+---+----------------------------------------------+----+-----------------------+----+-------------+-------+-----------+
| component / description | | :ref:`mj_fwdPosition` | | :ref:`mj_fwdVelocity` | | force / acc | | integrate |
| +---+-------------------------+--------------------+----+-----------------------+----+-------------+-------+-----------+
| | | :ref:`mj_fwdKinematics` | inertia, collision | | | | | | |
+-------------------------+---+-------------------------+--------------------+----+-----------------------+----+-------------+-------+-----------+
| stage | 1 | 2,3,4,5 | 6,7,8,9,10,11 | 12 | 13,14,15,16,17,18 | 19 | 20,21,22,23 | 24,25 | 26 |
+-------------------------+---+-------------------------+--------------------+----+-----------------------+----+-------------+-------+-----------+
+-------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
| top-level functions | :ref:`mj_step` |
| +----------------------------------------------------------------------------------------------------------------+--------------------------------+
| | :ref:`mj_step1` | :ref:`mj_step2` |
| +----------------------------------------------------------------------------------------------------------------+--------------+-------+---------+
| | :ref:`mj_forward` | | |
+=========================+===+=============================================================+====+====================================+====+==============+=======+=========+
| component / description | | :ref:`fwdPosition<mj_fwdPosition>` | | :ref:`fwdVelocity<mj_fwdVelocity>` | | | | |
| +---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
| | | :ref:`fwdKinematics<mj_fwdKinematics>` | inertia, collision | | | | acceleration | | advance |
+-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
| stage | 1 | 2-5 | 6-11 | 12 | 13-18 | 19 | 20-23 | 24,25 | 26 |
+-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
.. _piStages:
doc/css/theme_overrides.css
+1
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@@ -53,6 +53,7 @@ body[data-theme="dark"] table.docutils:not(.mjcf-attributes) {
.small-centered td, .small-centered th {
text-align: center !important;
vertical-align: middle !important;
border: 2px solid var(--color-table-border) !important;
}
.sidebar-brand-text {