Documentation bug fixes.

PiperOrigin-RevId: 801283863
Change-Id: I85bb11f4970bd6206f99a91cee04c2b99f73c576

doc/XMLreference.rst

@@ -526,20 +526,16 @@ from its default.
 .. _option-flag-spring:
 
 :at:`spring`: :at-val:`[disable, enable], "enable"`
-
    This flag disables passive joint and tendon springs. If passive :ref:`damper <option-flag-damper>` forces are
-   also disabled, *all* passive forces are disabled, including gravity compensation, fluid forces, forces computed by
+   also disabled, **all** passive forces are disabled, including gravity compensation, fluid forces, forces computed by
    the :ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
    :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
 
-   , fluid dynamics forces, and custom passive
-   forces computed by the :ref:`mjcb_passive` callback. As a result, no passive forces are applied.
-
 .. _option-flag-damper:
 
 :at:`damping`: :at-val:`[disable, enable], "enable"`
    This flag disables passive joint and tendon dampers. If passive :ref:`spring <option-flag-spring>` forces are also
-   disabled, *all* passive forces are disabled, including gravity compensation, fluid forces, forces computed by the
+   disabled, **all** passive forces are disabled, including gravity compensation, fluid forces, forces computed by the
    :ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
    :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
 
@@ -623,7 +619,7 @@ from its default.
 .. _option-flag-override:
 
 :at:`override`: :at-val:`[disable, enable], "disable"`
-   This flag enables to :ref:`Contact override <COverride>` mechanism explained above.
+   This flag enables the :ref:`Contact override <COverride>` mechanism.
 
 .. _option-flag-energy:
 

doc/changelog.rst

@@ -37,11 +37,11 @@ General
    - The ``mjDSBL_PASSIVE`` flag for disabling passive forces was removed and replaced by
      :ref:`mjDSBL_SPRING<mjtDisableBit>` and :ref:`mjDSBL_DAMPER<mjtDisableBit>` with corresponding
      :ref:`mjcf<option-flag-spring>` :ref:`attributes<option-flag-damper>`. Each flag disables only joint and tendon
-     springs or dampers, respectively. When both flags are set, *all* passive forces are disabled, including gravity
+     springs or dampers, respectively. When both flags are set, **all** passive forces are disabled, including gravity
      compensation, fluid forces, forces computed by the :ref:`mjcb_passive` callback, and forces computed by
-     :ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag. Setting
+     :ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
-     both flags recovers the behavior of the previous flag and is the migration path for existing code using
+
-     ``mjDSBL_PASSIVE``.
+     **Migration:** Set both flags to recover the behavior of the previous flag.
 
 
 .. admonition:: Breaking ABI changes