Fix documentation typos and CMake framework setup for macOS.

The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.

PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623

doc/APIreference.rst

@@ -3242,7 +3242,7 @@ users of MuJoCo -- we do our own work with the public library instead of relying
 Activation
 ^^^^^^^^^^
 
-The functions in this section are maintained for backward compatibillity with the now-removed activation mechanism.
+The functions in this section are maintained for backward compatibility with the now-removed activation mechanism.
 
 .. _mj_activate:
 

doc/changelog.rst

@@ -58,9 +58,10 @@ General
 
 Bug fixes
 ^^^^^^^^^
+
 10. Antialiasing was disabled for segmentation rendering. Before this change, if the :ref:`offsamples<quality>`
     attribute was greater than 0 (the default value is 4), pixels that overlapped with multiple geoms would receive
-    averaged segmentation IDs, leading to incorrect or non-existant IDs. After this change :at:`offsamples` is ignored
+    averaged segmentation IDs, leading to incorrect or non-existent IDs. After this change :at:`offsamples` is ignored
     during segmentation rendering.
 
 #.  The value of the enable flag for the experimental multiCCD feature was made sequential with other enable flags.
@@ -397,7 +398,7 @@ License manager
 ^^^^^^^^^^^^^^^
 
 23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
-    backward compabitibily, but now they do nothing and it is no longer necessary to call them.
+    backward compatibility, but now they do nothing and it is no longer necessary to call them.
 #. Removed the remote license certificate functions ``mj_certXXX``.
 
 Earlier versions

doc/modeling.rst

@@ -1207,7 +1207,7 @@ existing URDF models have non-physical dynamics parameters which MuJoCo's built-
 unmodified. This extension is also needed to specify mesh directories.
 
 Note that the while MJCF models are checked against a custom XML schema by the parser, URDF models are not. Even the
-MuJoCo-specific elements emebdded in the URDF file are not checked. As a result, mis-typed attribute names are
+MuJoCo-specific elements embedded in the URDF file are not checked. As a result, mis-typed attribute names are
 silently ignored, which can result in major confusion if the typo remains unnoticed.
 
 Here is an example extension section of a URDF model:

doc/overview.rst

@@ -602,7 +602,7 @@ Divergence of a simulation happens when elements of the state tend quickly to in
 manifested as an :ref:`mjWARN_BADQACC<mjtwarning>` warning. Divergence is endemic to all physics simulation and is not
 necessarily indicative of a bad model or bug in the simulator, but is rather a hint that the timestep  is too large for
 the given choice of integrator. In physics simulation there is always a tension between speed (large time steps) and
-stabillity (small timesteps). A model which is well-tuned for speed has the largest possible timestep that does not
+stability (small timesteps). A model which is well-tuned for speed has the largest possible timestep that does not
 diverge, which usually means that it *can* be made to diverge under extreme conditions. In that sense *rare* cases of
 divergence can actually be indicative of a well-tuned model. In all cases it should be possible to prevent divergence by
 reducing the timestep and/or switching to a more stable :ref:`integrator <geIntegration>`. If that fails, the culprit is

doc/python.rst

@@ -238,7 +238,7 @@ to terminate the process, otherwise the behavior of MuJoCo after the callback re
 sufficient to ensure that error callbacks do not return *to MuJoCo*, but it is permitted to use
 `longjmp <https://en.cppreference.com/w/c/program/longjmp>`__ to skip MuJoCo's call stack back to the external callsite.
 
-The Python bindings utilises longjmp to allow it to convert irrecoverable MuJoCo errors into Python exceptions of type
+The Python bindings utilizes longjmp to allow it to convert irrecoverable MuJoCo errors into Python exceptions of type
 ``mujoco.FatalError`` that can be caught and processed in the usual Pythonic way. Furthermore, it installs its error
 callback in a thread-local manner using a currently private API, thus allowing for concurrent calls into MuJoCo from
 multiple threads.
@@ -270,7 +270,7 @@ Migration Notes for mujoco-py
 -----------------------------
 
 In mujoco-py, the main entry point is the `MjSim <https://github.com/openai/mujoco-py/blob/master/mujoco_py/mjsim.pyx>`_
-class.  Users constuct a stateful ``MjSim`` instance from an MJCF model (similar to ``dm_control.Physics``), and this
+class.  Users construct a stateful ``MjSim`` instance from an MJCF model (similar to ``dm_control.Physics``), and this
 instance holds references to an ``mjModel`` instance and its associated ``mjData``.  In contrast, the MuJoCo Python
 bindings (``mujoco``) take a more low-level approach, as explained above: following the design principle of the C
 library, the ``mujoco`` module itself is stateless, and merely wraps the underlying native structs and functions.