Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

doc/unity.rst

@@ -16,8 +16,8 @@ Installation instructions
 
 The plug-in directory (available at https://github.com/deepmind/mujoco/tree/main/unity) includes a ``package.json``
 file.  Unity's package manager recognizes this file and will import the plug-in's C# codebase to your project.  In
-addition, Unity also needs the native MuJoCo library, which can be found in the specific platfomr archive at
-https://github.com/deepmind/mujoco/release.
+addition, Unity also needs the native MuJoCo library, which can be found in the specific platform archive at
+https://github.com/deepmind/mujoco/releases.
 
 On Unity version 2020.2 and later, the Package Manager will look for the native library file and copy it to the package
 directory when the package is imported. Alternatively, you can manually copy the native library to the package directory
@@ -170,7 +170,7 @@ components, you can call ``MjScene.CreateScene()`` when the initialization phase
 
 Scene recreation maintains continuity of physics and state in the following way:
 
-1. The position and velocity of joints is cached.
+1. The position and velocity of joints are cached.
 2. MuJoCo’s state is reset (to ``qpos0``) and Unity transforms are synchronized.
 3. A new XML is generated, creating a model that has the same ``qpos0`` as the previous one for the joints that
    persisted.