various fixes

docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md

@@ -40,7 +40,7 @@ The roto-translation which converts a point in one of these reference frames to
 | Right hand        | -> | Root            | **T\_RoRt, T\_RoRi, T\_RoRm** | [ iCub Right Fingers Forward Kinematics](./icub-forward-kinematics-fingers.md#right)       | -                                          |
 | Left foot V1      | -> | Root            | **T\_RoLf**                   | [ iCub Left Leg Forward Kinematics V1](./icub-forward-kinematics-legs.md#left-v1)          | [ICubFwdKinNew.zip][ICubFwdKinNew]         |
 | Left foot V2.5    | -> | Root            | **T\_RoLf**                   | [ iCub Left Leg Forward Kinematics V2.5](./icub-forward-kinematics-legs.md#left-v2_5)      | [ICubFwdKinNewV2.5.zip][ICubFwdKinNewV2.5] |
-| Right foot V1     | -> | Root            | **T\_RoRf**                   | [ iCub Right Leg Forward Kinematics V1](./icub-forward-kinematics-legs.md#rigt-v1)         | [ICubFwdKinNew.zip][ICubFwdKinNew]         |
+| Right foot V1     | -> | Root            | **T\_RoRf**                   | [ iCub Right Leg Forward Kinematics V1](./icub-forward-kinematics-legs.md#right-v1)        | [ICubFwdKinNew.zip][ICubFwdKinNew]         |
 | Right foot V2.5   | -> | Root            | **T\_RoRf**                   | [ iCub Right Leg Forward Kinematics V2.5](./icub-forward-kinematics-legs.md#right-v2_5)    | [ICubFwdKinNewV2.5.zip][ICubFwdKinNewV2.5] |
 | Left eye V1       | -> | Root            | **T\_RoLe**                   | [ iCub Head Forward Kinematics (left eye) V1](./icub-forward-kinematics-head.md#v1)        | [ICubFwdKinNew.zip][ICubFwdKinNew]         |
 | Left eye V2       | -> | Root            | **T\_RoLe**                   | [ iCub Head Forward Kinematics (left eye) V2](./icub-forward-kinematics-head.md#v2)        | [ICubFwdKinNewV2.zip][ICubFwdKinNewV2]     |

docs/icub_operating_systems/icubos/jetpack.md

@@ -228,7 +228,7 @@ sudo -H pip install -U jetson-stats
 ## Create a backup image
 
 For this step you need to have completed the [steps about the sdkManager](#jetpack-setup-on-the-host).
-Make sure that the Xavier was started in [recovery mode](#booting-the-xavier-in-recovery-mode) and it is found with `lsusb`.
+Make sure that the Xavier was started in [recovery mode](#booting-the-nvidia-jetson-board-in-recovery-mode) and it is found with `lsusb`.
 On the host machine go to the `Linux_for_Tegra` folder and run:
 
 ```bash

docs/icub_tendons/shoulder_elbow.md

@@ -216,9 +216,8 @@ In order to insert these cables, you need to turn the 2 pulleys and align the te
 <img src='../img/shoulder/ICUB_ELBOW_LEFT.png' width = 80%>
 
 !!! warning
-    **EITHER** you remove the Lower Arm by Following the instructions for Lower Arm [**V1**](remove.md#position001) or Lower Arm [**V2**](remove.md#position002)
-
 
+    **EITHER** you remove the Lower Arm by Following the instructions for Lower Arm [**V1**](remove.md#1-lower-arm-v1) or Lower Arm [**V2**](remove.md#2-lower-arm-v2)
     **OR** You are helped by **someone else** to hold the Lower Arm (Forearm + Hand).
 
 

docs/temperature_sensors/software/dataflow.md

@@ -2,7 +2,7 @@
 
 Generally, the data flow related to the whole pipeline of the sensing of the motor temperature is quite simple and a brief summary is proposed here below, whose main purpose is to make the reader aware of how the temperature data is retrieved from the motor resistance thermometer and printed out to a YARP port. 
 
-In brief, as reported in the [introductory section](../general/overview.md#temperature-sensors), most of the `ergoCub` motors are currently provided with a `PT100`, which is a particular resistor able to correlate a value of temperature to a value of resistance in `Ohm`. The resistor is connected to a board called **Temperature Detection Board (TDB)**.
+In brief, as reported in the [introductory section](../general/overview.md#motor-temperature-sensors), most of the `ergoCub` motors are currently provided with a `PT100`, which is a particular resistor able to correlate a value of temperature to a value of resistance in `Ohm`. The resistor is connected to a board called **Temperature Detection Board (TDB)**.
 The TBD reads the `Ohm` value from the `PT100` (or `PT1000` for different types of motors) and streams out the raw data using the `I2C` protocol. This raw data is then received by the `2FOC` board at a frequency of `10 Hz` and, immediately after, handed over to the `EMS` board via the `CAN` bus. The `EMS` stores the temperature values in memory and sends them to `embObjMotionControl` together with all the other motor information.
 Upon reception of the motor temperature, `embObjMotionControl` converts the values from raw to Celsius and checks if the `warningTemperatureLimit` is overcome. In that case, it prints out a warning on the yarprobotinterface log. No other actions are taken.