Fix typos.

PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1

src/user/user_composite.cc

@@ -139,7 +139,7 @@ void mjCComposite::SetDefault(void) {
     }
   }
 
-  // set all deafult groups to 3
+  // set all default groups to 3
   for (int i=0; i<mjNCOMPKINDS; i++) {
     def[i].spec.geom->group = 3;
     def[i].spec.site->group = 3;

src/user/user_flexcomp.cc

@@ -1527,7 +1527,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
     // read elements, discard all tags
     element.reserve(numNodeTags*numElements);
     for (size_t i=0; i<numElements; i++) {
-      int nodeTag = 0, physicalEntityTag = 0, elmentModelEntityTag = 0;
+      int nodeTag = 0, physicalEntityTag = 0, elementModelEntityTag = 0;
       if (i != 0) {
         ss >> tag >> elementType >> numTags;
         if (!ss.good()) {
@@ -1535,7 +1535,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
         }
       }
       if (numTags > 0) {
-        ss >> physicalEntityTag >> elmentModelEntityTag;
+        ss >> physicalEntityTag >> elementModelEntityTag;
         if (!ss.good()) {
           throw mjCError(NULL, "Error reading Elements");
         }

src/user/user_model.cc

@@ -131,7 +131,7 @@ mjCModel::mjCModel() {
 
   //------------------------ auto-computed statistics
 #ifndef MEMORY_SANITIZER
-  // initializing as best practice, but want MSAN to catch unintialized use
+  // initializing as best practice, but want MSAN to catch uninitialized use
   meaninertia_auto = 0;
   meanmass_auto = 0;
   meansize_auto = 0;
@@ -1845,7 +1845,7 @@ void mjCModel::AutoSpringDamper(mjModel* m) {
     int adr = m->jnt_dofadr[n];
     int ndim = mjCJoint::nv((mjtJoint)m->jnt_type[n]);
 
-    // get timeconst and dampratio from joint specificatin
+    // get timeconst and dampratio from joint specification
     mjtNum timeconst = (mjtNum)joints_[n]->springdamper[0];
     mjtNum dampratio = (mjtNum)joints_[n]->springdamper[1];
 

src/user/user_objects.cc

@@ -1123,7 +1123,7 @@ void mjCBody::NameSpace(const mjCModel* m) {
 
 
 
-// apply prefix and suffix, propagate to all descendents or only to child bodies
+// apply prefix and suffix, propagate to all descendants or only to child bodies
 void mjCBody::NameSpace_(const mjCModel* m, bool propagate) {
   mjCBase::NameSpace(m);
   if (!plugin_instance_name.empty()) {
@@ -5487,7 +5487,7 @@ void mjCTendon::Compile(void) {
       case mjWRAP_PULLEY:
         // pulley should not follow other pulley
         if (i>0 && path[i-1]->type==mjWRAP_PULLEY) {
-          throw mjCError(this, "tendon '%s' (id = %d): consequtive pulleys (pos %d)",
+          throw mjCError(this, "tendon '%s' (id = %d): consecutive pulleys (pos %d)",
                          name.c_str(), id, i);
         }
 

src/user/user_resource.cc

@@ -249,7 +249,7 @@ void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
 
 
 // return 0 if the resource's timestamp matches the provided timestamp
-// return > 0 if the the resource is younger than the given timestamp
+// return > 0 if the resource is younger than the given timestamp
 // return < 0 if the resource is older than the given timestamp
 int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
   // provider is not OS filesystem

src/user/user_resource.h

@@ -42,7 +42,7 @@ MJAPI int mju_readResource(mjResource* resource, const void** buffer);
 MJAPI void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
 
 // return 0 if the resource's timestamp matches the provided timestamp
-// return > 0 if the the resource is younger than the given timestamp
+// return > 0 if the resource is younger than the given timestamp
 // return < 0 if the resource is older than the given timestamp
 MJAPI int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
 

src/user/user_util.cc

@@ -993,7 +993,7 @@ std::string FilePath::PathReduce(const std::string& str) {
   int j = abs_prefix.size();
 
   for (int i = j; i < str.size(); ++i) {
-    if (IsSeperator(str[i])) {
+    if (IsSeparator(str[i])) {
       std::string temp = str.substr(j, i - j);
       j = i + 1;
       if (temp == ".." && !dirs.empty() && dirs.back() != "..") {

src/user/user_util.h

@@ -211,7 +211,7 @@ class FilePath {
  private:
   static std::string AbsPrefix(const std::string& str);
   static std::string PathReduce(const std::string& str);
-  static bool IsSeperator(char c) {
+  static bool IsSeparator(char c) {
     return c == '/' || c == '\\';
   }
   static std::string Combine(const std::string& s1, const std::string& s2);