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Fix typos and minor corrections in MuJoCo documentation and comments.

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PiperOrigin-RevId: 875163889
Change-Id: Ic604d6235bf9cb999058f191e3ee41e47ec1a567
This commit is contained in:
Yuval Tassa
2026-02-25 07:56:01 -08:00
committed by Copybara-Service
parent 940cab2508
commit 0c66585e39
14 changed files with 43 additions and 43 deletions
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doc/computation/fluid.rst
+4 -4
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@@ -72,7 +72,7 @@ body coordinates are
g_{V, i} = \quad &- 8 \beta \pi r_{eq}^3 \omega_i \\
\end{aligned}
One can also affect these forces by specifing a non-zero :ref:`wind<option-wind>`, which is a 3D vector subtracted
One can also affect these forces by specifying a non-zero :ref:`wind<option-wind>`, which is a 3D vector subtracted
from the body linear velocity in the fluid dynamics computation.
.. _flEllipsoid:
@@ -357,7 +357,7 @@ of symmetry because under this assumption the kinetic energy greatly simplifies
.. math::
2 \mathcal{T} = m_{A, x} v_x^2 + m_{A, y} v_y^2 + m_{A, z} v_z^2 +
I_{A, x} \omega_x^2 + I_ {A, y} \omega_y^2 + I_{A, y} \omega_z^2
I_{A, x} \omega_x^2 + I_ {A, y} \omega_y^2 + I_{A, z} \omega_z^2
For convenience we introduce the added-mass vector :math:`\mathbf{m}_A = \{m_{A, x}, m_{A, y}, m_{A, z}\}` and added-moment of
@@ -429,7 +429,7 @@ bagheri2016`. See screen capture of the
We derive a formula for :math:`\mathbf{f}_\text{D}` based on two surfaces :math:`A^\text{proj}_\mathbf{v}` and
:math:`A_\text{max}`. The first, :math:`A^\text{proj}_\mathbf{v}`, is the cylindrical projection of the body onto a
plane normal to the velocity :math:`\mathbf{v}`. The second is the maximum projected surface
:math:`A_\text{max} = 4 \pi r_{max} r_{min}`.
:math:`A_\text{max} = \pi r_{max} r_{mid}`.
.. math::
\mathbf{f}_\text{D} = - \rho~ \big[ C_{D, \text{blunt}} ~ A^\text{proj}_\mathbf{v} ~ +
@@ -541,7 +541,7 @@ onto the surface. The lift force per unit length can be computed with the Kutta
:math:`\mathbf{f}_K / L = \rho \Gamma_\text{K} \times \mathbf{v}`.
In order to extend the lift force equation to three-dimensional motions, we consider the normal
:math:`\mathbf{n}_{s, \mathbf{v}} = \{\frac{r_y r_z}{r_x}v_x, \frac{r_z r_x}{r_y}v_y, \frac{r_x r_x}{r_z}v_z\}`
:math:`\mathbf{n}_{s, \mathbf{v}} = \{\frac{r_y r_z}{r_x}v_x, \frac{r_z r_x}{r_y}v_y, \frac{r_x r_y}{r_z}v_z\}`
to the cross-section of the body which generates the body's projection :math:`A^\text{proj}_\mathbf{v}` onto a plane
normal to the velocity given in the :ref:`lemma<flProjection>` above and the corresponding unit vector
:math:`\hat{\mathbf{n}}_{s, \mathbf{v}}`.