Fix typos. Remove any reference to 'gs clean'.

source/user_guide/getting_started/advanced_ik.md

@@ -12,7 +12,7 @@ import numpy as np
 import genesis as gs
 
 ########################## init ##########################
-gs.init(seed=0, precision='32', logging_level='debug')
+gs.init(seed=0, precision='32', logging_level='info')
 
 ########################## create a scene ##########################
 scene = gs.Scene(

source/user_guide/getting_started/misc_guidelines.md

@@ -1,4 +1,4 @@
-# 📝 Misc Guidelines
+# 📝 Guidelines
 
 (I will keep updating this)
 - Use genesis.tensor whenever possible. Note that when we pass genesis tensor to taichi kernels, call tensor.assert_contiguous() to check whether it's contiguous, since taichi only support contiguous external tensor.
@@ -63,11 +63,11 @@
             - offset value for its own children. e.g. a `geom` only stores `idx_offset_*` for `vert`, `face`, and `edge`.
     - root vs base
         - `root` is a more natural name as we use a tree structure for the links, while `base` is more informative from user's perspective
-        - Let's use `root` link inernally, and `base` link for docs etc.
+        - Let's use `root` link internally, and `base` link for docs etc.
     - root pose vs q (current design subject to possible change)
         - for both arm and single mesh, its pos and euler specified when loaded is its root pose, and q will be w.r.t to this
     - control interface
-        - root pos should be merged with joint pos of the first (fixed) joint, which connectes world to the first link
+        - root pose should be merged with joint pose of the first (fixed) joint, which connects world to the first link
         - if we want to control something, we will command velocity
             - thus, if it’s a free joint, it’s ok. We will override velocity
             - if it’s a fixed joint, there’s no dof for it, so we cannot control it

source/user_guide/getting_started/soft_robots.md

@@ -10,12 +10,12 @@ import genesis as gs
 
 
 ########################## init ##########################
-gs.init(seed=0, precision='32', logging_level='debug')
+gs.init(seed=0, precision='32', logging_level='info')
 
 ########################## create a scene ##########################
-dt = 5e-4
 scene = gs.Scene(
     sim_options=gs.options.SimOptions(
+        dt = 5e-4,
         substeps=10,
         gravity=(0, 0, 0),
     ),
@@ -25,12 +25,11 @@ scene = gs.Scene(
         camera_fov=40,
     ),
     mpm_options=gs.options.MPMOptions(
-        dt=dt,
         lower_bound=(-1.0, -1.0, -0.2),
         upper_bound=( 1.0,  1.0,  1.0),
     ),
     fem_options=gs.options.FEMOptions(
-        dt=dt,
+        damping=45.0,
     ),
     vis_options=gs.options.VisOptions(
         show_world_frame=False,
@@ -179,12 +178,12 @@ import genesis as gs
 
 
 ########################## init ##########################
-gs.init(seed=0, precision='32', logging_level='debug')
+gs.init(seed=0, precision='32', logging_level='info')
 
 ######################## create a scene ##########################
-dt = 3e-3
 scene = gs.Scene(
     sim_options=gs.options.SimOptions(
+        dt=3e-3,
         substeps=10,
     ),
     viewer_options= gs.options.ViewerOptions(
@@ -193,13 +192,11 @@ scene = gs.Scene(
         camera_fov=40,
     ),
     rigid_options=gs.options.RigidOptions(
-        dt=dt,
         gravity=(0, 0, -9.8),
         enable_collision=True,
         enable_self_collision=False,
     ),
     mpm_options=gs.options.MPMOptions(
-        dt=dt,
         lower_bound=( 0.0,  0.0, -0.2),
         upper_bound=( 1.0,  1.0,  1.0),
         gravity=(0, 0, 0), # mimic gravity compensation

source/user_guide/index.md

@@ -29,7 +29,7 @@ getting_started/hover_env
 getting_started/manipulation
 getting_started/terrain
 getting_started/soft_robots
-getting_started/command_line_tools
+getting_started/miscellaneous
 getting_started/config_system
 ```
 

source/user_guide/overview/installation.md

@@ -36,10 +36,10 @@ If you are using Genesis with CUDA, make sure appropriate nvidia-driver is insta
 
 ## (Optional) Surface Reconstruction
 If you need fancy visuals for visualizing particle-based entities (fluids, deformables, etc.), you typically need to reconstruct the mesh surface using the internal particle-based representation. For this purpose, [splashsurf](https://github.com/InteractiveComputerGraphics/splashsurf), a state-of-the-art surface reconstruction, is supported out-of-the-box. Alternatively, we also provide `ParticleMesher`, our own openVDB-based surface reconstruction tool, which is faster but lower quantity:
-    ```bash
-    echo "export LD_LIBRARY_PATH=${PWD}/ext/ParticleMesher/ParticleMesherPy:$LD_LIBRARY_PATH" >> ~/.bashrc
-    source ~/.bashrc
-    ```
+```bash
+echo "export LD_LIBRARY_PATH=${PWD}/ext/ParticleMesher/ParticleMesherPy:$LD_LIBRARY_PATH" >> ~/.bashrc
+source ~/.bashrc
+```
 
 ## (Optional) Ray Tracing Renderer
 
@@ -212,7 +212,7 @@ After installing Pytorch and Genesis, Taichi falls back to CPU, while torch init
 Symptoms: 
 
 - running `python -c "import torch; print(torch.zeros((3,), device='cuda'))"` outputs `tensor([0., 0., 0.], device='cuda:0')`
-- but running `python -c "import taichi as ti; ti.init(arch=ti.gpu)"` outputs something like
+- but running `python -c "import gstaichi as ti; ti.init(arch=ti.gpu)"` outputs something like
     ```
     [W 06/18/25 12:47:56.784 14507] [cuda_driver.cpp:load_lib@36] libcuda.so lib not found.
     [Taichi] Starting on arch=vulkan