Fix some broken links in documentation.

Remove references to deleted sample Makefiles.

PiperOrigin-RevId: 660753375
Change-Id: Iaed2d893e1c03b1c6d348a54e7d7f834db7f6089

doc/changelog.rst

@@ -455,15 +455,15 @@ MJX
         - CG
         - Newton
         - Speedup
-      * - `Humanoid <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/humanoid>`__
+      * - `Humanoid <https://github.com/google-deepmind/mujoco/tree/56006355b29424658b56aedb48a4269bd4361c68/mjx/mujoco/mjx/benchmark/model/humanoid>`__
         - 640,000
         - 1,020,000
         - **1.6 x**
-      * - `Barkour v0 <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/barkour_v0>`__
+      * - `Barkour v0 <https://github.com/google-deepmind/mujoco/tree/56006355b29424658b56aedb48a4269bd4361c68/mjx/mujoco/mjx/benchmark/model/barkour_v0>`__
         - 1,290,000
         - 1,750,000
         - **1.35 x**
-      * - `Shadow Hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
+      * - `Shadow Hand <https://github.com/google-deepmind/mujoco/tree/56006355b29424658b56aedb48a4269bd4361c68/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
         - 215,000
         - 270,000
         - **1.25 x**

doc/mjx.rst

@@ -305,7 +305,7 @@ Collisions between large meshes
   the convex mesh should have roughly **fewer than 32 vertices**.
   With careful
   tuning, MJX can simulate scenes with mesh collisions -- see the MJX
-  `shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
+  `shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/test_data/shadow_hand>`__
   config for an example. Speeding up mesh collision detection is an active area of development for MJX.
 
 Large, complex scenes with many contacts

doc/overview.rst

@@ -804,7 +804,7 @@ first, followed by the limits of the second joint etc. This ordering reflects th
 row-major format.
 
 The available element types are defined in `mjmodel.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h#L243>`_, in the enum type :ref:`mjtObj`.
+<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h#L237>`_, in the enum type :ref:`mjtObj`.
 These enums are mostly used internally. One exception are the functions :ref:`mj_name2id` and :ref:`mj_id2name` in the
 MuJoCo API, which map element names to integer ids and vice versa. These functions take an element type as input.
 

doc/programming/index.rst

@@ -72,18 +72,12 @@ directory; it contains error and warning messages, and can be deleted at any tim
      doc     - README.txt and REFERENCE.txt
      include - header files needed to develop with MuJoCo
      model   - model collection
-     sample  - code samples and makefile need to build them
+     sample  - code samples and CMakeLists.txt needed to build them
 
 After verifying that the simulator works, you may also want to re-compile the code samples to ensure that you have a
-working development environment. We provide Makefiles for `Windows
-<https://github.com/google-deepmind/mujoco/blob/main/sample/Makefile.windows>`_, `macOS
-<https://github.com/google-deepmind/mujoco/blob/main/sample/Makefile.macos>`_, and `Linux
-<https://github.com/google-deepmind/mujoco/blob/main/sample/Makefile>`_, and also a cross-platform `CMake
+working development environment. We provide a cross-platform `CMake
 <https://github.com/google-deepmind/mujoco/blob/main/sample/CMakeLists.txt>`_ setup that can be used to build sample
-applications independently of the MuJoCo library itself. If you are using the vanilla Makefile, we assume that you are
-using Visual Studio on Windows and LLVM/Clang on Linux. On Windows, you also need to either open a Visual Studio command
-prompt with native x64 tools or call the ``vcvarsall.bat`` script that comes with your MSVC installation to set up the
-appropriate environment variables.
+applications independently of the MuJoCo library itself.
 
 On macOS, the DMG disk image contains ``MuJoCo.app``, which you can double-click to launch the ``simulate`` GUI. You can
 also drag ``MuJoCo.app`` into the ``/Application`` on your system, as you would to install any other app. While