Update build documentation to include instructions on how to build the docs locally.

PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5

doc/changelog.rst

@@ -891,7 +891,7 @@ General
    used to determine the type of the asset file without resorting to pulling the type from the file extension.
 #. Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
    (rotation with an angular velocity). Derivatives are in the 3D tangent space.
-#. Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
+#. Added :ref:`mjv_connector` which has identical functionality to ``mjv_makeConnector``, but with more convenient
    "from-to" argument parametrization. ``mjv_makeConnector`` is now deprecated.
 #. Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
 

doc/programming/index.rst

@@ -94,8 +94,8 @@ Building from source
 
 To build MuJoCo from source, you will need CMake and a working C++17 compiler installed. The steps are:
 
-#. Clone the ``mujoco`` repository from GitHub.
+#. Clone the ``mujoco`` repository: ``git clone https://github.com/deepmind/mujoco.git``
-#. Create a new build directory somewhere, and ``cd`` into it.
+#. Create a new build directory and ``cd`` into it.
 #. Run :shell:`cmake $PATH_TO_CLONED_REPO` to configure the build.
 #. Run ``cmake --build .`` to build.
 
@@ -120,6 +120,19 @@ installed (see :github:issue:`862` for more details).
    `continuous integration setup <https://github.com/google-deepmind/mujoco/blob/main/.github/workflows/build.yml>`_ on
    GitHub.
 
+.. _inBuildDocs:
+
+Building the docs
+~~~~~~~~~~~~~~~~~
+
+If you wish to build the documentation locally, for example to test pull-requests that improve it, do:
+
+1. Clone the ``mujoco`` repository: ``git clone https://github.com/deepmind/mujoco.git``
+2. Go to the ``doc/`` directory: ``cd mujoco/doc``
+3. Install the dependencies: ``pip install -r requirements.txt``
+4. Build the HTML: ``make html``
+5. Open ``_build/html/index.html`` in your browser of choice.
+
 .. _inHeader:
 
 Header files