Replace HTML links with MD links

docs/behavior_components/behavior_tasks.md

@@ -8,7 +8,7 @@ icon: material/silverware-fork-knife
 
 BEHAVIOR is short for Benchmark for Everyday Household Activities in Virtual, Interactive, and ecOlogical enviRonments.
 
-[**`BehaviorTask`**](../reference/tasks/behavior_task.html) represents a family of 1000 long-horizon household activities that humans benefit the most from robots' help based on our survey results.
+[**`BehaviorTask`**](../reference/tasks/behavior_task.md) represents a family of 1000 long-horizon household activities that humans benefit the most from robots' help based on our survey results.
 
 To browse and modify the definition of BEHAVIOR tasks, you might find it helpful to download a local editable copy of our `bddl` repo.
 ```{.python .annotate}

docs/modules/controllers.md

@@ -67,7 +67,7 @@ These are general-purpose controllers that are agnostic to a robot's morphology,
 <table markdown="span">
     <tr>
         <td valign="top">
-            [**`JointController`**](../reference/controllers/joint_controller.html)<br><br>
+            [**`JointController`**](../reference/controllers/joint_controller.md)<br><br>
             Directly controls individual joints. Either outputs low-level joint position or velocity controls if `use_impedance=False`, otherwise will internally compensate the desired gains with the robot's mass matrix and output joint effort controls.<br><br>
             <ul>
                 <li>_Command Dim_: n_joints</li>
@@ -79,7 +79,7 @@ These are general-purpose controllers that are agnostic to a robot's morphology,
     </tr>
     <tr>
         <td valign="top">
-            [**`NullJointController`**](../reference/controllers/null_joint_controller.html)<br><br>
+            [**`NullJointController`**](../reference/controllers/null_joint_controller.md)<br><br>
             Directly controls individual joints via an internally stored `default_command`. Inputted commands will be ignored unless `default_command` is updated.<br><br>
             <ul>
                 <li>_Command Dim_: n_joints</li>
@@ -97,7 +97,7 @@ These are controllers specifically meant for robots with navigation capabilities
 <table markdown="span" width="100%">
     <tr>
         <td valign="top" width="100%">
-            [**`DifferentialDriveController`**](../reference/controllers/dd_controller.html)<br><br>
+            [**`DifferentialDriveController`**](../reference/controllers/dd_controller.md)<br><br>
             Commands 2-wheeled robots by setting linear / angular velocity setpoints and converting them into per-joint velocity control.<br><br>
             <ul>
                 <li>_Command Dim_: n_joints</li>
@@ -116,7 +116,7 @@ These are controllers specifically meant for robots with manipulation capabiliti
 <table markdown="span">
     <tr>
         <td valign="top">
-            [**`InverseKinematicsController`**](../reference/controllers/ik_controller.html)<br><br>
+            [**`InverseKinematicsController`**](../reference/controllers/ik_controller.md)<br><br>
             Controls a robot's end-effector by iteratively solving inverse kinematics to output a desired joint configuration to reach the desired end effector pose, and then runs an underlying `JointController` to reach the target joint configuration. Multiple modes are available, and dictate both the command dimension and behavior of the controller. `condition_on_current_position` can be set to seed the IK solver with the robot's current joint state, and `use_impedance` can be set if the robot's per-joint inertia should be taken into account when attempting to reach the target joint configuration.<br><br>
             Note: Orientation convention is axis-angle `[ax,ay,az]` representation, and commands are expressed in the robot base frame unless otherwise noted.<br><br>
             <ul>
@@ -135,7 +135,7 @@ These are controllers specifically meant for robots with manipulation capabiliti
     </tr>
     <tr>
         <td valign="top">
-            [**`OperationalSpaceController`**](../reference/controllers/osc_controller.html)<br><br>
+            [**`OperationalSpaceController`**](../reference/controllers/osc_controller.md)<br><br>
             Controls a robot's end-effector by applying the [operational space control](https://khatib.stanford.edu/publications/pdfs/Khatib_1987_RA.pdf) algorithm to apply per-joint efforts to perturb the robot's end effector with impedances ("force") along all six (x,y,z,ax,ay,az) axes. Unlike `InverseKinematicsController`, this controller is inherently compliant and especially useful for contact-rich tasks or settings where fine-grained forces are required. For robots with >6 arm joints, an additional null command is used as a secondary objective and is defined as joint state `reset_joint_pos`.<br><br>
             Note: Orientation convention is axis-angle `[ax,ay,az]` representation, and commands are expressed in the robot base frame unless otherwise noted.<br><br>
             <ul>
@@ -161,7 +161,7 @@ These are controllers specifically meant for robots with manipulation capabiliti
 <table markdown="span" width="100%">
     <tr>
         <td valign="top" width="100%">
-            [**`MultiFingerGripperController`**](../reference/controllers/multi_finger_gripper_controller.html)<br><br>
+            [**`MultiFingerGripperController`**](../reference/controllers/multi_finger_gripper_controller.md)<br><br>
             Commands a robot's gripper joints, with behavior defined via `mode`. By default, &lt;closed, open&gt; is assumed to correspond to &lt;q_lower_limit, q_upper_limit&gt; for each joint, though this can be manually set via the `closed_qpos` and `open_qpos` arguments.<br><br>
             <ul>
                 <li>_Command Dim_: 1 / n_gripper_joints</li>

docs/modules/environments.md

@@ -52,6 +52,6 @@ Once created, the environment can be interfaced roughly in the same way as an Op
 
 ## Types
 
-**`OmniGibson`** provides the main [`Environment`](../reference/environments/env_base.html) class, which should offer most of the essential functionality necessary for running robot experiments and interacting with the underlying simulator.
+**`OmniGibson`** provides the main [`Environment`](../reference/environments/env_base.md) class, which should offer most of the essential functionality necessary for running robot experiments and interacting with the underlying simulator.
 
-However, for more niche use-caches (such as demonstration collection, or batched environments), **`OmniGibson`** offers the [`EnvironmentWrapper`](../reference/environments/env_wrapper.html) class to easily extend the core environment functionality.
+However, for more niche use-caches (such as demonstration collection, or batched environments), **`OmniGibson`** offers the [`EnvironmentWrapper`](../reference/environments/env_wrapper.md) class to easily extend the core environment functionality.