Hi, I'm curious about how accurate and reliable the default aerodynamics model in MuJoCo is. I'm currently setting the density in the option greater than zero and it seems the model works fine. But I want to know more detail about the aerodynamics model implemented in MuJoCo. While it is mentioned in the document page, is it consistent with the basic aerodynamics model in the literature Lift = - 1/2 * rho * v^2 * A_ref * C_L and Drag = - 1/2 * rho * v^2 * A_ref * C_D? Let me assume that the area of the (front-facing) inertia box is equivalent to the reference area A_ref, but which term serves as the lift coefficient C_L ? Also, could you please how the i th velocity component of the body frame was computed and it can be related to the angle-of-attack dependent lift coefficient ? Since I cannot see the code of the implementation, the only thing I can do is to infer from the equations presented in the document. I would really appreciate the clarification on the default aerodynamics equations presented in the document page and how consistent it is with the basic ones in the literature. Thanks in advance !