Fix various typos.

PiperOrigin-RevId: 499888205
Change-Id: I38ccf9edb2a745fe8087f14b67ecccca872f7743

src/engine/engine_io.h

@@ -82,7 +82,7 @@ MJAPI const char* mj_validateReferences(const mjModel* m);
 
 //------------------------------- mjData -----------------------------------------------------------
 
-// Allocate mjData correponding to given model.
+// Allocate mjData corresponding to given model.
 // If the model buffer is unallocated the initial configuration will not be set.
 MJAPI mjData* mj_makeData(const mjModel* m);
 

src/engine/engine_support.c

@@ -1068,7 +1068,7 @@ void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst,
 
 //-------------------------- perturbations ---------------------------------------------------------
 
-// add cartesian force and torque to qfrc_target
+// add Cartesian force and torque to qfrc_target
 void mj_applyFT(const mjModel* m, mjData* d,
                 const mjtNum force[3], const mjtNum torque[3],
                 const mjtNum point[3], int body, mjtNum* qfrc_target) {

src/engine/engine_support.h

@@ -114,7 +114,7 @@ MJAPI void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst,
 
 //-------------------------- perturbations ---------------------------------------------------------
 
-// apply cartesian force and torque
+// apply Cartesian force and torque
 MJAPI void mj_applyFT(const mjModel* m, mjData* d,
                       const mjtNum force[3], const mjtNum torque[3],
                       const mjtNum point[3], int body, mjtNum* qfrc_target);