Improve inline documentation of mj_passive and mj_subtreeVel.

PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196

doc/APIreference/functions.rst

@@ -803,7 +803,7 @@ mj_passive
 
 .. mujoco-include:: mj_passive
 
-Compute qfrc_passive from spring-dampers, viscosity and density.
+Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.
 
 .. _mj_subtreeVel:
 
@@ -812,7 +812,7 @@ mj_subtreeVel
 
 .. mujoco-include:: mj_subtreeVel
 
-subtree linear velocity and angular momentum
+Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.
 
 .. _mj_rne:
 

include/mujoco/mujoco.h

@@ -336,10 +336,10 @@ MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, i
 // Compute cvel, cdof_dot.
 MJAPI void mj_comVel(const mjModel* m, mjData* d);
 
-// Compute qfrc_passive from spring-dampers, viscosity and density.
+// Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.
 MJAPI void mj_passive(const mjModel* m, mjData* d);
 
-// subtree linear velocity and angular momentum
+// Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.
 MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
 
 // RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.

introspect/functions.py

@@ -1666,7 +1666,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Compute qfrc_passive from spring-dampers, viscosity and density.',
+         doc='Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.',  # pylint: disable=line-too-long
      )),
     ('mj_subtreeVel',
      FunctionDecl(
@@ -1686,7 +1686,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='subtree linear velocity and angular momentum',
+         doc='Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.',  # pylint: disable=line-too-long
      )),
     ('mj_rne',
      FunctionDecl(