Minor updates to documentation across multiple sections.

PiperOrigin-RevId: 898652783
Change-Id: Idb671910c18ed3406722b8a1307f97ae9a194139

doc/programming/modeledit.rst

@@ -1,14 +1,8 @@
 Model Editing
 -------------
 
-.. admonition:: New API
-   :class: note
-
-   The API described below is new but feature complete. It is recommended for general use, but latent bugs are still
-   possible. Please report any issues on GitHub.
-
-As of MuJoCo 3.2.0, it is possible to create and modify models using the :ref:`mjSpec` struct and related API.
-This datastructure is in one-to-one correspondence with MJCF and indeed, MuJoCo's own XML parsers (both MJCF and URDF)
+It is possible to create and modify models using the :ref:`mjSpec` struct and related API.
+This data structure is in one-to-one correspondence with MJCF and indeed, MuJoCo's own XML parsers (both MJCF and URDF)
 use this API when loading a model.
 
 
@@ -17,16 +11,16 @@ use this API when loading a model.
 Overview
 ~~~~~~~~
 
-The new API augments the traditional workflow of creating and editing models using XML files, breaking up the *parse* and
+The API augments the traditional workflow of creating and editing models using XML files, breaking up the *parse* and
 *compile* steps. As summarized in the :ref:`Overview chapter<Instance>`, the traditional workflow is:
 
  1. Create an XML model description file (MJCF or URDF) and associated assets. |br|
  2. Call :ref:`mj_loadXML`, obtain an :ref:`mjModel` instance.
 
-The new workflow using :ref:`mjSpec` is:
+The workflow using :ref:`mjSpec` is:
 
  1. Create an empty :ref:`mjSpec` using :ref:`mj_makeSpec` or parse an existing XML file using :ref:`mj_parseXML`.
- 2. Programmatically edit the :ref:`mjSpec` datastructure by adding, modifying and removing elements.
+ 2. Programmatically edit the :ref:`mjSpec` data structure by adding, modifying, and removing elements.
  3. Compile the :ref:`mjSpec` to an :ref:`mjModel` instance using :ref:`mj_compile`.
 
  After compilation, the :ref:`mjSpec` remains editable, so steps 2 and 3 are interchangeable.
@@ -40,9 +34,9 @@ Usage
 Here we describe the C API for procedural model editing, but it is also exposed in the :ref:`Python
 bindings<PyModelEdit>`. Advanced users can refer to `user_api_test.cc
 <https://github.com/google-deepmind/mujoco/blob/main/test/user/user_api_test.cc>`__ and the MJCF parser in
-`xml_native_reader.cc <https://github.com/google-deepmind/mujoco/blob/main/src/xml/xml_native_reader.cc>`__ for more
-usage examples. After creating a new :ref:`mjSpec` or parsing an existing XML file to an :ref:`mjSpec`, procedural
-editing corresponds to setting attributes. For example, in order to change the timestep, one can do:
+`xml_native_reader.cc <https://github.com/google-deepmind/mujoco/blob/main/src/xml/xml_native_reader.cc>`__ for
+more usage examples. After creating a new :ref:`mjSpec` or parsing an existing XML file to an :ref:`mjSpec`,
+procedural editing corresponds to setting attributes. For example, in order to change the timestep, one can do:
 
 .. code-block:: C
 
@@ -56,7 +50,7 @@ In C one uses the provided :ref:`getters<AttributeGetters>` and :ref:`setters<At
 
 .. code-block:: C
 
-   mjs_setString(model->modelname, "my_model");
+   mjs_setString(spec->modelname, "my_model");
 
 In C++, one can use vectors and strings directly:
 
@@ -76,7 +70,7 @@ Loading a spec from XML can be done as follows:
 
 Model elements
 ^^^^^^^^^^^^^^
-Model elements corresponding to MJCF are exposed to the user as C structs with the ``mjs`` prefix, the definitions are
+Model elements corresponding to MJCF are exposed to the user as C structs with the ``mjs`` prefix. The definitions are
 listed under the :ref:`Model Editing<tySpecStructure>` section of the struct reference. For example, an MJCF
 :ref:`geom<body-geom>` corresponds to an :ref:`mjsGeom`.
 
@@ -120,7 +114,7 @@ Attachment
 ^^^^^^^^^^
 
 This framework introduces a powerful new feature: attaching and deleting model subtrees. This feature is already used to
-power the :ref:`attach<body-attach>` an :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user to
+power the :ref:`attach<body-attach>` and :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user to
 move or copy a subtree from one model into another, while also copying or moving related referenced assets and
 referencing elements from outside the kinematic tree (e.g., actuators and sensors). Similarly, deleting a subtree will
 remove all associated elements from the model. The default behavior ("shallow copy") is to move the child into the
@@ -199,7 +193,7 @@ already initialized elements.
 .. admonition:: Possible future change
    :class: note
 
-   The behaviour described above, where defaults are only applied at initialization, is a remnant of the old, XML-only
+   The behavior described above, where defaults are only applied at initialization, is a remnant of the old, XML-only
    loading pipeline. A future API change could allow defaults to be changed and applied after initialization. If you
    think this feature is important to you, please let us know on GitHub.