Update M1 Pro with M3 Max benchmarks in MJX docs

PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125

doc/XMLreference.rst

@@ -5787,10 +5787,10 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 .. _actuator-plugin-dyntype:
 
 :at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, muscle, user], "none"`
-   Activation dynamics type for the actuator. The available dynamics types were already described in the
-   :ref:`Actuation model <geActuation>` section. See also :ref:`actuator-general-dyntype`. If dyntype is
-   not none, an activation variable will be added to the actuator. This variable will be added after
-   any activation state computed by the plugin (see :ref:`actuator plugin activations<exActuatorAct>`).
+   Activation dynamics type for the actuator. The available dynamics types were already described in the :ref:`Actuation
+   model <geActuation>` section. If :ref:`dyntype<actuator-general-dyntype>` is not "none", an activation variable will
+   be added to the actuator. This variable will be added after any activation state computed by the plugin (see
+   :ref:`actuator plugin activations<exActuatorAct>`).
 
 .. _actuator-plugin-actrange:
 

doc/mjx.rst

@@ -296,7 +296,7 @@ Large, complex scenes with many contacts
   powerful as the one in MuJoCo.
 
   To see how this affects simulation, let us consider a physics scene with increasing numbers of humanoid bodies,
-  varied from 1 to 10. We simulate this scene using CPU MuJoCo on an Apple M1 Pro and a 64-core AMD 3995WX and time
+  varied from 1 to 10. We simulate this scene using CPU MuJoCo on an Apple M3 Max and a 64-core AMD 3995WX and time
   it using :ref:`testspeed<saTestspeed>`, using ``2 x numcore`` threads. We time the MJX simulation on an Nvidia
   A100 GPU using a batch size of 8192 and an 8-chip
   `v5 TPU <https://cloud.google.com/blog/products/compute/announcing-cloud-tpu-v5e-and-a3-gpus-in-ga>`__
@@ -306,7 +306,7 @@ Large, complex scenes with many contacts
      :width: 95%
      :align: center
 
-  The values for a single humanoid (leftmost datapoints) for the four timed architectures are **320K**, **1.8M**,
+  The values for a single humanoid (leftmost datapoints) for the four timed architectures are **650K**, **1.8M**,
   **950K** and **2.7M** steps per second, respectively. Note that as we increase the number of humanoids (which
   increases the number of potential contacts in a scene), MJX throughput decreases more rapidly than MuJoCo.
 

doc/programming/extension.rst

@@ -206,7 +206,7 @@ Actuator activations
 
 When writing stateful actuator plugins, there are two choices for where to save the actuator state. One option is using
 ``plugin_state`` as described above, and the other is to use ``mjData.act`` by implementing the ``actuator_actdim`` and
- ``actuator_act_dot`` callbacks on :ref:`mjpPlugin`.
+``actuator_act_dot`` callbacks on :ref:`mjpPlugin`.
 
 When using the latter option, the actuator plugin's state will be added to ``mjData.act``, and MuJoCo will
 automatically integrate ``mjData.act_dot`` values between timesteps. One advantage of this approach is that