From 5e9906be8422f6d928f0bb8d7cbef82145537aab Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 5 Dec 2023 10:18:53 -0800
Subject: [PATCH] s/paramters/parameters/

PiperOrigin-RevId: 588113325
Change-Id: I1b7e754c747baedb8d2b154c3dc395a7062e8fc5
---
 src/engine/engine_io.c        | 2 +-
 src/engine/engine_io.h        | 2 +-
 src/engine/engine_util_misc.c | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 48a1bd8c..32994e9c 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -94,7 +94,7 @@ void mj_defaultLROpt(mjLROpt* opt) {
 
 //------------------------------- mjOption ---------------------------------------------------------
 
-// set default solver paramters
+// set default solver parameters
 void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp) {
   if (solref) {
     solref[0] = 0.02;       // timeconst
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index 6983990d..4f8b530c 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -35,7 +35,7 @@ extern "C" {
 // Set default options for length range computation.
 MJAPI void mj_defaultLROpt(mjLROpt* opt);
 
-// set default solver paramters
+// set default solver parameters
 MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
 
 // set options to default values
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index e1e126d7..30eb0d2a 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -163,7 +163,7 @@ static mjtNum wrap_circle(mjtNum* pnt, const mjtNum* d, const mjtNum* sd, mjtNum
 //  input: pair of 2D points in d[4], radius
 //  output: pair of 2D points in pnt[4]; return 0 if wrap, -1 if no wrap
 static mjtNum wrap_inside(mjtNum* pnt, const mjtNum* d, mjtNum rad) {
-  // algorithm paramters
+  // algorithm parameters
   const int maxiter = 20;
   const mjtNum zinit = 1 - 1e-7;
   const mjtNum tolerance = 1e-6;