Fix typos.

PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1

src/engine/engine_callback.c

@@ -29,7 +29,7 @@ mjfAct mjcb_act_dyn      = 0;
 
 
 
-// reset callbacks to defauls
+// reset callbacks to defaults
 void mj_resetCallbacks(void) {
   mjcb_passive  = 0;
   mjcb_control  = 0;

src/engine/engine_collision_box.c

@@ -475,7 +475,7 @@ int mjraw_CapsuleBox(mjContact* con, mjtNum margin,
   } else if (cltype >= 0 && cltype / 3 == 1) {  // we are on box's edge
     // hacks to find the relative orientation of capsule and edge
     // there are 2 cases:
-    //    c1= 2^n: edge and capsule are oriented in a T configuaration (no more contacts
+    //    c1= 2^n: edge and capsule are oriented in a T configuration (no more contacts
     //    c1!=2^n: oriented in a cross X configuration
 
     c1 = axisdir ^ clcorner;  // same trick

src/engine/engine_collision_driver.c

@@ -1153,7 +1153,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
 
   // init with pairs involving always-colliding bodies
   for (int b1=0; b1 < nbody; b1++) {
-    // cannot colide
+    // cannot collide
     if (!canCollide(m, b1)) {
       continue;
     }
@@ -1163,7 +1163,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
         (m->body_weldid[b1] == 0 && hasPlane(m, b1))) {
       // add b1:body pairs that are not welded together
       for (int b2=0; b2 < nbody; b2++) {
-        // cannot colide
+        // cannot collide
         if (!canCollide(m, b2)) {
           continue;
         }

src/engine/engine_solver.c

@@ -1408,7 +1408,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     // add nC to Hessian total nonzeros (unavoidable overcounting since H_colind is still unknown)
     ctx->nH = m->nC + ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
 
-    // shift H row adresses to make room for C
+    // shift H row addresses to make room for C
     int shift = 0;
     for (int r = 0; r < nv - 1; r++) {
       shift += d->C_rownnz[r];
@@ -1443,7 +1443,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     ctx->nL = mju_cholFactorCount(ctx->L_rownnz, HT_rownnz, HT_rowadr, HT_colind, nv, d);
     mj_freeStack(d);
 
-    // compute L row adresses: rowadr = cumsum(rownnz)
+    // compute L row addresses: rowadr = cumsum(rownnz)
     ctx->L_rowadr[0] = 0;
     for (int r=1; r < nv; r++) {
       ctx->L_rowadr[r] = ctx->L_rowadr[r-1] + ctx->L_rownnz[r-1];

src/engine/engine_util_solve.h

@@ -114,7 +114,7 @@ MJAPI void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index,
                            mjtNum** H, mjtNum** g, int n,
                            mjtNum** lower, mjtNum** upper);
 
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper, explicit options (see implemetation)
+// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper, explicit options (see implementation)
 MJAPI int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index,
                           const mjtNum* H, const mjtNum* g, int n,
                           const mjtNum* lower, const mjtNum* upper,