Fix documentation typos.

PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025

doc/APIreference/APItypes.rst

@@ -28,7 +28,7 @@ MuJoCo defines a large number of types:
     - :ref:`mjOption` (embedded in :ref:`mjModel`).
     - :ref:`mjData`.
 
-  - :ref:`Auxillary struct types<tyAuxStructure>`, also used by the engine.
+  - :ref:`Auxiliary struct types<tyAuxStructure>`, also used by the engine.
   - Structs for collecting :ref:`simulation statistics<tyStatStructure>`.
   - Structs for :ref:`abstract visualization<tyVisStructure>`.
   - Structs used by the :ref:`openGL renderer<tyRenderStructure>`.
@@ -752,7 +752,7 @@ modifiable inputs and write their outputs.
 
 .. _tyAuxStructure:
 
-Auxillary
+Auxiliary
 ^^^^^^^^^
 
 These struct types are used in the engine and their names are prefixed with ``mj``. :ref:`mjVisual`

doc/APIreference/functions.rst

@@ -504,7 +504,7 @@ found, the function will return ``distmax`` and ``fromto``, if given, will be se
    .. TODO: b/339596989 - Improve mjc_Convex.
 
    For some colliders, a large, positive ``distmax`` will result in an accurate measurement. However, for collision
-   pairs which use the general ``mjc_Convex`` collider, the result will be approximate and likely innacurate.
+   pairs which use the general ``mjc_Convex`` collider, the result will be approximate and likely inaccurate.
    This is considered a bug to be fixed in a future release.
    In order to determine whether a geom pair uses ``mjc_Convex``, inspect the table at the top of
    `engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.

doc/APIreference/functions_override.rst

@@ -228,7 +228,7 @@ found, the function will return ``distmax`` and ``fromto``, if given, will be se
    .. TODO: b/339596989 - Improve mjc_Convex.
 
    For some colliders, a large, positive ``distmax`` will result in an accurate measurement. However, for collision
-   pairs which use the general ``mjc_Convex`` collider, the result will be approximate and likely innacurate.
+   pairs which use the general ``mjc_Convex`` collider, the result will be approximate and likely inaccurate.
    This is considered a bug to be fixed in a future release.
    In order to determine whether a geom pair uses ``mjc_Convex``, inspect the table at the top of
    `engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.