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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 Top level
^^^^^^^^^ ^^^^^^^^^
- The top-level function :ref:`mj_step` invokes the entire sequence of computations below. - The top-level function :ref:`mj_step` invokes the entire sequence of stages below **1-26**.
- :ref:`mj_forward` invokes only stages **2-22**, computing the continuous-time forward dynamics, ending with the - :ref:`mj_forward` invokes only stages **2-23**, computing the continuous-time forward dynamics, ending with the
acceleration ``mjData.qacc``. acceleration ``mjData.qacc``.
- :ref:`mj_step1` invokes stages **1-19** and :ref:`mj_step2` invokes stages **20-26**, breaking :ref:`mj_step` into two - :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 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 .. 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 :class: small-centered no-stripes
+-------------------------+----------------------------------------------------------------------------------------------------------------------+ +-------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
| top-level functions | :ref:`mj_step` | | top-level functions | :ref:`mj_step` |
| +------------------------------------------------------------------------------------+---------------------------------+ | +----------------------------------------------------------------------------------------------------------------+--------------------------------+
| | :ref:`mj_step1` | :ref:`mj_step2` | | | :ref:`mj_step1` | :ref:`mj_step2` |
| +------------------------------------------------------------------------------------+-------------+-------+-----------+ | +----------------------------------------------------------------------------------------------------------------+--------------+-------+---------+
| | :ref:`mj_forward` | | | | | :ref:`mj_forward` | | |
+-------------------------+---+----------------------------------------------+----+-----------------------+----+-------------+-------+-----------+ +=========================+===+=============================================================+====+====================================+====+==============+=======+=========+
| component / description | | :ref:`mj_fwdPosition` | | :ref:`mj_fwdVelocity` | | force / acc | | integrate | | component / description | | :ref:`fwdPosition<mj_fwdPosition>` | | :ref:`fwdVelocity<mj_fwdVelocity>` | | | | |
| +---+-------------------------+--------------------+----+-----------------------+----+-------------+-------+-----------+ | +---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
| | | :ref:`mj_fwdKinematics` | inertia, collision | | | | | | | | | | :ref:`fwdKinematics<mj_fwdKinematics>` | inertia, collision | | | | acceleration | | advance |
+-------------------------+---+-------------------------+--------------------+----+-----------------------+----+-------------+-------+-----------+ +-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
| 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 | | stage | 1 | 2-5 | 6-11 | 12 | 13-18 | 19 | 20-23 | 24,25 | 26 |
+-------------------------+---+-------------------------+--------------------+----+-----------------------+----+-------------+-------+-----------+ +-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
.. _piStages: .. _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 { .small-centered td, .small-centered th {
text-align: center !important; text-align: center !important;
vertical-align: middle !important; vertical-align: middle !important;
border: 2px solid var(--color-table-border) !important;
} }
.sidebar-brand-text { .sidebar-brand-text {