Trimmed trailing whitespaces

Signed-off-by: Jasmeet Singh <[email protected]>

tutorials/auto_inertia_calculation.md

@@ -2,37 +2,37 @@
 
 ## Automatic Inertia Calculation for SDFormat Links
 
-This feature enables automatic calculation for the Moments of Inertia, Mass, and 
-Inertial Pose (Center of Mass pose) of a link described using SDFormat. The following 
+This feature enables automatic calculation for the Moments of Inertia, Mass, and
+Inertial Pose (Center of Mass pose) of a link described using SDFormat. The following
 geometry types are currently supported for this feature:
  * Box
  * Capsule
  * Cylinder
  * Ellipsoid
  * Sphere
  * Mesh
-   
-Using this feature, a user can easily set up an accurate simulation with physically 
-plausible inertial values for a link. This also removes the dependency on manual calculations 
+
+Using this feature, a user can easily set up an accurate simulation with physically
+plausible inertial values for a link. This also removes the dependency on manual calculations
 or 3rd-party mesh processing software which can help lower the barrier of entry for beginners.
 
-This tutorial will focus on how this feature can be enabled and how the 
-inertia values for a link can be configured. Some limitations and recommendations 
+This tutorial will focus on how this feature can be enabled and how the
+inertia values for a link can be configured. Some limitations and recommendations
 would also be discussed along the way that would allow users to more mindfully utilize this feature.
 
 ## Basic Overview
 
-This feature introduced a new `auto` attribute for the `<inertial>` tag which can be set 
-to true or false (The value is false by default) to enable or disable the automatic 
+This feature introduced a new `auto` attribute for the `<inertial>` tag which can be set
+to true or false (The value is false by default) to enable or disable the automatic
 calculations respectively:
 
 ```xml
 <inertial auto="true" />
 ```
 
-In case, `auto` is set to true, the constituent **collision geometries** of the link are 
-considered for the calculations. A newly introduced `<density>` tag can be used to specify 
-the mass density value of the collision in kg/m^3. The density of water (1000 kg/m^3) is 
+In case, `auto` is set to true, the constituent **collision geometries** of the link are
+considered for the calculations. A newly introduced `<density>` tag can be used to specify
+the mass density value of the collision in kg/m^3. The density of water (1000 kg/m^3) is
 utilized as the default value:
 
 ```xml
@@ -46,19 +46,19 @@ utilized as the default value:
 </collision>
 ```
 
-In case of multiple collision geometries in a link, a user is free to provide different 
-density values for each and the inertia values from each would be aggregated to calculate 
-the final inertia of the link. However, if there are no collisions present, 
+In case of multiple collision geometries in a link, a user is free to provide different
+density values for each and the inertia values from each would be aggregated to calculate
+the final inertia of the link. However, if there are no collisions present,
 an `ELEMENT_MISSING` error would be thrown.
 
-It is **important** to note here that if `auto` is set to `true` and the user has 
-still provided values through the `<mass>`, `<pose>` and `<inertia>` tags, they 
+It is **important** to note here that if `auto` is set to `true` and the user has
+still provided values through the `<mass>`, `<pose>` and `<inertia>` tags, they
 would be **overwritten** by the automatically computed values.
 
->**Note:** Use SDF Spec version 1.11 or greater to utilize the new tags and attributes 
+>**Note:** Use SDF Spec version 1.11 or greater to utilize the new tags and attributes
 of this feature.
 
-Here's an example snippet of a cylinder model that has automatic inertial calculations 
+Here's an example snippet of a cylinder model that has automatic inertial calculations
 enabled and has a density of 1240 kg/m^3:
 
 ```xml
@@ -91,42 +91,42 @@ enabled and has a density of 1240 kg/m^3:
   </model>
 ```
 
-If you use the above snippet in an empty world and launch it with `gz-sim`, here's 
+If you use the above snippet in an empty world and launch it with `gz-sim`, here's
 how it would look:
 
 ![Cylinder](files/auto_inertia/cylinder_inertia_demo.gif)
 
 ## Links with Multiple Collisions & the Effect of Density
 
-To understand the inertia calculation in links with multiple collisions and the 
-effect of setting different density values, you can launch the `auto_inertia_pendulum.sdf` 
+To understand the inertia calculation in links with multiple collisions and the
+effect of setting different density values, you can launch the `auto_inertia_pendulum.sdf`
 example world using:
 
 ```bash
 gz sim auto_inertia_pendulum.sdf
 ```
 
-After the gz-sim window opens up, you can right click on both the models and enable 
-the centre of mass visualization by selecting the `View > Center of Mass` option from 
+After the gz-sim window opens up, you can right click on both the models and enable
+the centre of mass visualization by selecting the `View > Center of Mass` option from
 the menu. Once you play the simulation it should look this:
 
 ![Pendulum](files/auto_inertia/auto_inertia_pendulum.gif)
 
-This example world has two structurally indentical models. The pendulum link of both 
-the models contain 3 cylindrical collision geometries: One on the top which forms the 
-joint, One in longer cylinder in middle and One at the end which forms the bob of 
-cylinder. Even, though they are indentical, the center of mass for both are different 
-as they use different density values for the different cylinder collisions. One one 
-hand, the upper joint collision of the pendulum on the left has the highest density 
-which causes the center of mass to shift closer to the axis while on the other hand, 
-the bob collision of the pendulum on the right has the highest density which causes 
+This example world has two structurally indentical models. The pendulum link of both
+the models contain 3 cylindrical collision geometries: One on the top which forms the
+joint, One in longer cylinder in middle and One at the end which forms the bob of
+cylinder. Even, though they are indentical, the center of mass for both are different
+as they use different density values for the different cylinder collisions. One one
+hand, the upper joint collision of the pendulum on the left has the highest density
+which causes the center of mass to shift closer to the axis while on the other hand,
+the bob collision of the pendulum on the right has the highest density which causes
 the center of mass to shift towards the end of the pendulum.
-This difference in mass distribution about the axis of rotation results in difference 
+This difference in mass distribution about the axis of rotation results in difference
 in the moment of inertia of the 2 setups and hence different angular velocities.
 
 ## Mesh Inertia Calculation with Rolling Shapes Demo
 
-Let's try another example world, `auto_inertia_rolling_shapes.sdf`. This can be 
+Let's try another example world, `auto_inertia_rolling_shapes.sdf`. This can be
 launched with `gz sim` using the following command:
 
 ```bash
@@ -137,24 +137,24 @@ Once you launch and play the simulation, it should look something like this:
 
 ![Rolling](files/auto_inertia/rolling_inertia_demo.gif)
 
-Here the right most shapes is a hollow cylinder (yellow). This model is load from 
-fuel and is made using a collada mesh of a hollow cylinder. Apart from this, we can 
-see there is a solid cylinder, a solid sphere and a solid capsule. All of these are 
+Here the right most shapes is a hollow cylinder (yellow). This model is load from
+fuel and is made using a collada mesh of a hollow cylinder. Apart from this, we can
+see there is a solid cylinder, a solid sphere and a solid capsule. All of these are
 made using the `<geometry>` tag and have automatic inertia calculations enabled.
-Here, the moments of inertia for the hollow cylinder (which is convex mesh shape) is 
-calculated and from the simulation we can see that it reaches the bottom of the 
-incline last. This is physically accurate as the mass distribution for the hollow 
-cylinder is concetrated at a distance from the axis of rotation (which passes through 
+Here, the moments of inertia for the hollow cylinder (which is convex mesh shape) is
+calculated and from the simulation we can see that it reaches the bottom of the
+incline last. This is physically accurate as the mass distribution for the hollow
+cylinder is concetrated at a distance from the axis of rotation (which passes through
 the center of mass in this case).
 
 ## Key Points Regarding Mesh Inertia Calculator
 
 Here are some key points to consider when using automatic inertia calculation with 3D Meshes:
  * Water-tight triangle meshes are required for the Mesh Inertia Calculator.
- * Currently, the mesh inertia is calculated about the mesh origin. Since the link 
- inertia value needs to be about the Center of Mass, the mesh origin needs to be set 
- at the Center of Mass (Centroid). 
- * Since the vertex data is used for inertia calculations, high vertex count would be 
- needed for near ideal values. However, it is recommended to use basic shapes with the 
- geometry tag (Box, Capsule, Cylinder, Ellipsoid and Sphere) as collision geometries to 
+ * Currently, the mesh inertia is calculated about the mesh origin. Since the link
+ inertia value needs to be about the Center of Mass, the mesh origin needs to be set
+ at the Center of Mass (Centroid).
+ * Since the vertex data is used for inertia calculations, high vertex count would be
+ needed for near ideal values. However, it is recommended to use basic shapes with the
+ geometry tag (Box, Capsule, Cylinder, Ellipsoid and Sphere) as collision geometries to
  reduce the load of calculations.