docs: fix documentation urls

This commit fixes several documentation urls and improves some
documentation syntax.

CONTRIBUTING.md

@@ -41,14 +41,14 @@ We use GitHub issues to track public bugs. Report a bug by [opening a new issue]
 
 #### Write bug reports with detail, background, and sample code
 
-[This is an example](http://stackoverflow.com/q/12488905/180626) of a bug report, and I think it's a good model. Here's [another example from Craig Hockenberry](http://www.openradar.me/11905408), an app developer greatly respected in the community.
+[This is an example](https://stackoverflow.com/q/12488905/180626) of a bug report, and I think it's a good model. Here's [another example from Craig Hockenberry](http://www.openradar.me/11905408), an app developer greatly respected in the community.
 
 **Great Bug Reports** tend to have:
 
 *   A quick summary and/or background.
 *   Steps to reproduce:
     *   Be specific!
-    *   Give sample code if you can. [A StackOverflow question](http://stackoverflow.com/q/12488905/180626) includes sample code that *anyone* with a base R setup can run to reproduce the error.
+    *   Give sample code if you can. [A StackOverflow question](https://stackoverflow.com/q/12488905/180626) includes sample code that *anyone* with a base R setup can run to reproduce the error.
 *   What you expected would happen
 *   What happens?
 *   Notes (possibly including why you think this might be happening or stuff you tried that didn't work).

docs/source/dev/add_new_envs.rst

@@ -3,7 +3,7 @@ Add new environments
 ====================
 
 Please follow the steps provided in the :gymnasium:`gymnasium documentation <tutorials/gymnasium_basics/environment_creation>`
-when creating a new environment. After you create your environment, you can use the :stable-gym:`stable-gym/stable_gym/__init__.py <blob/main/stable_gym/__init__.py>` 
+when creating a new environment. After you create your environment, you can use the :stable-gym:`stable-gym/stable_gym/__init__.py <tree/main/stable_gym/__init__.py>` 
 file to register them to the ``stable_gym`` package.
 
 stable_gym/stable_gym/envs/__init__.py

pyproject.toml

@@ -50,8 +50,8 @@ dev = [
     "isort>=5.12.0",
 ]
 docs = [
-    "sphinx>=6.2.1",
-    "sphinx_rtd_theme>=1.2.2",
+    "sphinx>=7.1.2",
+    "sphinx_rtd_theme>=1.3.0",
     "myst-parser>=1.0.0",
     "sphinx-autoapi>=2.1.1",
 ]

stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/README.md

@@ -5,7 +5,7 @@
 </div>
 </br>
 
-An actuated 8-jointed Minitaur. This environment corresponds to the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment included in the [pybullet package](https://pybullet.org/). It is different in the fact that:
+An actuated 8-jointed Minitaur. This environment corresponds to the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment included in the [pybullet package](https://pybullet.org/). It is different in the fact that:
 
 *   The objective was changed to a velocity-tracking task. To do this, the
     reward is replaced with a cost. This cost is the squared difference between
@@ -16,11 +16,11 @@ An actuated 8-jointed Minitaur. This environment corresponds to the [MinitaurBul
 *   Users are given the option to modify the Minitaur fall criteria, and thus
     the episode termination criteria.
 
-The rest of the environment is the same as the original Minitaur environment. Please refer to the [original codebase](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) or [the article of Tan et al. 2018](https://arxiv.org/abs/1804.10332) on which the Minitaur environment is based for more information.
+The rest of the environment is the same as the original Minitaur environment. Please refer to the [original codebase](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) or [the article of Tan et al. 2018](https://arxiv.org/abs/1804.10332) on which the Minitaur environment is based for more information.
 
 ## Observation space
 
-The original observation space of the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment contains all eight motors' angles, velocities and torques. In this modified version, the observation space has been extended to add three additional observations:
+The original observation space of the [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment contains all eight motors' angles, velocities and torques. In this modified version, the observation space has been extended to add three additional observations:
 
 *   $r$: The velocity reference signal that needs to be tracked.
 *   $r_{error}$: The difference between the current and reference velocities.
@@ -77,7 +77,7 @@ In addition to the observations, the cost and a termination and truncation boole
 [observation, cost, termination, truncation, info_dict]
 ```
 
-Compared to the original [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment, the following keys were added to this info dictionary:
+Compared to the original [MinitaurBulletEnv-v0](https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py) environment, the following keys were added to this info dictionary:
 
 *   **reference**: The reference velocity.
 *   **state\_of\_interest**: The state that should track the reference (SOI).

stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/__init__.py

@@ -9,7 +9,7 @@
 -   Users are given the option to modify the Minitaur fall criteria and thus
     the episode termination criteria.
 
-.. _`MinitaurBullet environment`: https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
+.. _`MinitaurBullet environment`: https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
 .. _`Tan et al. 2018`: https://arxiv.org/abs/1804.10332
 .. _`Han et al. 2020`: https://arxiv.org/abs/2004.14288
 """  # noqa: E501

stable_gym/envs/robotics/minitaur/minitaur_bullet_cost/minitaur_bullet_cost.py

@@ -35,7 +35,7 @@ class MinitaurBulletCost(MinitaurBulletEnv, utils.EzPickle):
 
         The rest of the environment is the same as the original Minitaur environment.
         Please refer to the
-        `original codebase <https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py>`__
+        `original codebase <https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py>`__
         or `the article of Tan et al. 2018`_ on which the Minitaur environment is based for more information.
 
     .. _`Minitaur environment`: https://arxiv.org/abs/1804.10332