Fixes to documentation:

1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.

PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24

doc/APIreference/APItypes.rst

@@ -1174,6 +1174,20 @@ mjfGetResourceDir
 This callback is for returning the directory of a resource, by setting dir to the directory string with ndir being size
 of directory string.
 
+.. _mjfResourceModified:
+
+mjfResourceModified
+~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   typedef int (*mjfResourceModified)(const mjResource* resource);
+
+This callback is for checking if a resource was modified since it was last read.
+Returns positive value if the resource was modified since last open, 0 if resource was not modified,
+and negative value if inconclusive.
+
+
 .. _tyNotes:
 
 Notes

doc/changelog.rst

@@ -28,7 +28,8 @@ New features
    - Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its
      gradient at query points See the :ref:`documentation<exWriting>` for more details.
 
-3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within MuJoCo engine pipeline.
+3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine
+   pipeline.
 
 General
 ^^^^^^^
@@ -36,23 +37,16 @@ General
 .. admonition:: Breaking API changes
    :class: attention
 
-   4. Removed macros ``mjMARKSTACK`` and ``mjFREESTACK``.
+   4. Removed the macros ``mjMARKSTACK`` and ``mjFREESTACK``.
 
-      .. admonition::  Migration note
+      **Migration:** These macros have been replaced by new functions :ref:`mj_markStack` and
-         :class: note
+      :ref:`mj_freeStack`. These functions manage the :ref:`mjData stack<siStack>` in a fully encapsulated way (i.e.,
-
+      without introducing a local variable at the call site).
-         These macros have been replaced by new functions :ref:`mj_markStack` and :ref:`mj_freeStack`. These functions
-         manages ``mjData`` stack frames in a fully encapsulated way (i.e. without having to introduce a local variable
-         at the call site).
 
    5. Changed the function :ref:`mj_stackAlloc` to allocate an arbitrary number of bytes, rather than in multiples of
-      ``sizeof(mjtNum)``, and add an additional argument for specifying the alignment of the returned pointer.
+      ``sizeof(mjtNum)``, and added an additional argument for specifying the alignment of the returned pointer.
 
-      .. admonition:: Migration note
+      **Migration:** The functionality for allocating ``mjtNum`` arrays is available via :ref:`mj_stackAllocNum`.
-         :class: note
-
-         The old functionality for allocating ``mjtNum`` arrays is still available through a new function
-         :ref:`mj_stackAllocNum`.
 
    6. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
       and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.

doc/programming/extension.rst

@@ -331,7 +331,7 @@ Resource prefix
 Callbacks
   There are three callbacks that a resource provider is required to implement: :ref:`open<mjfOpenResource>`,
   :ref:`read<mjfReadResource>`, and :ref:`close<mjfCloseResource>`. The other two callback
-  :ref:`getdir<mjfGetResourceDir>` and :ref:`modified<mjfModifiedResource>` are optional. More details on these callbacks
+  :ref:`getdir<mjfGetResourceDir>` and :ref:`modified<mjfResourceModified>` are optional. More details on these callbacks
   are given below.
 
 Data Pointer
@@ -352,7 +352,7 @@ Resource providers work via callbacks:
 - :ref:`mjfGetResourceDir<mjfGetResourceDir>`: This callback is optional and is used to extract the directory from a
   resource name.  For example, the resource name ``http://www.example.com/myasset.obj`` would have
   ``http://www.example.com/`` as its directory.
-- :ref:`mjfModifiedResource<mjfModifiedResource>`: This callback is optional and is used to check if an existing
+- :ref:`mjfResourceModified<mjfResourceModified>`: This callback is optional and is used to check if an existing
   opened resource has been modifed from its orginal source.
 
 .. _exProviderUsage: