From e095bb6d414f2868c2915efbba0c999d12c47fcd Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 1 Dec 2025 11:35:11 -0800 Subject: [PATCH] Improve rendering of dynamics pipeline schematic PiperOrigin-RevId: 838865159 Change-Id: I225e94508be7edb8f8217ec5abb2f609cbb39ae5 --- doc/computation/index.rst | 34 ++++++++++++++++++---------------- doc/css/theme_overrides.css | 1 + 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/doc/computation/index.rst b/doc/computation/index.rst index 6db720a2..271736b8 100644 --- a/doc/computation/index.rst +++ b/doc/computation/index.rst @@ -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` | | :ref:`fwdVelocity` | | | | | + | +---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+ + | | | :ref:`fwdKinematics` | inertia, collision | | | | acceleration | | advance | + +-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+ + | stage | 1 | 2-5 | 6-11 | 12 | 13-18 | 19 | 20-23 | 24,25 | 26 | + +-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+ .. _piStages: diff --git a/doc/css/theme_overrides.css b/doc/css/theme_overrides.css index 3c52d089..9297b680 100644 --- a/doc/css/theme_overrides.css +++ b/doc/css/theme_overrides.css @@ -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 {