Update how-to-migrate-from-gazebo-classic.md

docs/how-to-migrate-from-gazebo-classic.md

@@ -2,7 +2,7 @@
 
 ## Introduction
 
-This brief guide will help you migrating an existing project originally created for Gazebo Classic simulator and `gazebo-yarp-plugins` to Modern Gazebo (`gz-sim`) and `gz-sim-yarp-plugins`.
+This brief guide will help you migrate an existing project created initially for Gazebo Classic simulator and `gazebo-yarp-plugins` to Modern Gazebo (`gz-sim`) and `gz-sim-yarp-plugins`.
 
 It is (usually) a quick and hassle-free process. In case you find errors or you need a feature missing from `gazebo-yarp-plugins` feel free to [open an issue](https://github.com/robotology/gz-sim-yarp-plugins/issues).
 
@@ -59,7 +59,7 @@ If your robot description is in a URDF file, then you should add the `gz-sim-yar
 From this example, just update the `name` and `filename` attributes of the `<plugin>` element with the ones found in the table above.
 
 > [!NOTE]  
-> The `<sensor>` elements already present in the mdoel do not need any modification.
+> The `<sensor>` elements already present in the model do not need any modification.
 
 #### SDF
 
@@ -113,7 +113,7 @@ If the plugin is added to a URDF robot file, it should placed under `<robot>` an
 
 `gz-sim-yarp-plugins` usually need a configuration, that can be specified in two ways:
 
-- using the `<yarpConfigurationString>` element, that allow to directly specify all the parameters through a string;
+- using the `<yarpConfigurationString>` element, which allows to specify all the parameters through a string directly;
 - using `<yarpConfigurationFile>` element, specifying a path where the configuration file (usually a `.ini` file) is located;
 - only for the robot interface plugin, with `<yarpRobotInterfaceConfigurationFile>` element, specifying the path of the [YARP XML configuration file](https://www.yarp.it/latest/group__yarp__robotinterface__xml__config__files.html).
 
@@ -123,13 +123,13 @@ See the [YARP documentation](https://www.yarp.it/latest/yarp_config_files.html)
 > The configuration parameters needed by `gz-sim-yarp-plugins` are slightly different from the ones needed by `gazebo-yarp-plugins`.
 > If you plan to use the same configuration file for both `gazebo-yarp-plugins` and `gz-sim-yarp-plugins`, you can just append the new parameters to the existing ones in the same file.
 
-The parameters needed by each plugin can be found looking at each [plugin](../plugins/) folder.
+The parameters needed by each plugin can be found by looking at each [plugin](../plugins/) folder.
 
 ## World set up
 
 World files are used to set up a simulation scenario containing all the required models and specific settings in Modern Gazebo. World files are written in [SDF](http://sdformat.org/) format and they replace the drag-and-drop way of placing models into the simulation from the _Insert_ tab of Gazebo Classic.
 
-As already said, since Modern Gazebo has a modular architecture, the world file is also the place in which simulation settings are specified, such as the physics engine to use and the GUI components to show. See the [official documentation](https://gazebosim.org/docs/harmonic/sdf_worlds) to learn more, and feel free to checkout the example worlds contained in the [tutorials](../tutorial/) folder.
+As already said, since Modern Gazebo has a modular architecture, the world file is also the place in which simulation settings are specified, such as the physics engine to use and the GUI components to show. See the [official documentation](https://gazebosim.org/docs/harmonic/sdf_worlds) to learn more, and feel free to check out the example worlds contained in the [tutorials](../tutorial/) folder.
 
 ## Environment variables
 
@@ -141,6 +141,6 @@ The most important variables are:
 
 Visit the [official documentation](https://gazebosim.org/api/sim/8/resources.html) to learn more.
 
-These variables contain commma separated lists of paths wich Gazebo uses to find the resourced it needs, hence in order to be able to run the simulation they have to be configured, ideally placing the `export` commands in the `.bashrc` or in conda activate scripts based on how you installed Modern Gazebo.
+These variables contain a colon-separated list of paths that Gazebo uses to find the resources it needs, hence in order to be able to run the simulation they have to be configured, ideally placing the `export` commands in the `.bashrc` or in conda activate scripts based on how you installed Modern Gazebo.
 
 If you followed the [README](../README.md), the `GZ_SIM_SYSTEM_PLUGIN_PATH` is already configured properly, while you should add to the `GZ_SIM_RESOURCE_PATH` variable the path(s) to your model(s).