From 9eb0745968913d7e4b1e7b8d748b9d7494d7706f Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 1 Jul 2025 05:33:01 -0700
Subject: [PATCH] Fix comment typo in getimpedance.

PiperOrigin-RevId: 777997980
Change-Id: I0fe87196360e6771db10f4d9b08d43448ea5f54e
---
 src/engine/engine_core_constraint.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 52befb97..b77d546e 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -1390,7 +1390,7 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
     yP = solimp[4] * a*power(x, solimp[4]-1);
   }
 
-  // y(x) = 1-b*(1-x)^p is x>midpoint
+  // y(x) = 1-b*(1-x)^p if x>midpoint
   else {
     mjtNum b = 1/power(1-solimp[3], solimp[4]-1);
     y = 1-b*power(1-x, solimp[4]);