From 4b1667e4ce4878fb89c2ba678e5da4f76d809169 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 20 Mar 2026 12:26:23 -0700 Subject: [PATCH] Fix documentation links PiperOrigin-RevId: 886920783 Change-Id: Ie1ab433aeaaa668a103a684cbb30ef5375c6211b --- doc/XMLreference.rst | 2 +- doc/changelog.rst | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 513914b8..7e90fa14 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -5370,7 +5370,7 @@ specify them independently. is not required for :at:`kv` as it is already applied in actuator space (so the units are identical). - Implicit integration works for :at:`damping` when using the Euler integrator but not for :at:`kv`. To get implicit integration for :at:`kv`, implicit or implicitfast is required, see - :ref:`Integration`. + :ref:`Integrators`. - :at:`damping` allows for polynomial damping, while :at:`kv` is only linear. - Damping forces generated by :at:`kv` are subject to :ref:`forcerange` clamping, but forces generated by :at:`damping` are not. diff --git a/doc/changelog.rst b/doc/changelog.rst index 28744171..23d2dd87 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -34,8 +34,8 @@ General **Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``. - - The ``vertcollide`` field in :ref:`mjsContact` has been deprecated since the next release of :doc:`MuJoCo Warp ` - will support native flex collisions. + - The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since + :doc:`MuJoCo Warp ` supports native flex collisions. Bug fixes