Fix typos.

PiperOrigin-RevId: 476632296
Change-Id: I136556acc43d3cd24273fb975a515e72a3cf23d7

doc/XMLreference.rst

@@ -3093,7 +3093,7 @@ axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
 
 :at:`pos`: :at-val:`real(3), required`
    Position of the inertial frame. This attribute is required even when the inertial properties can be inferred from
-   geoms. This is because the presence of the :el:`inertial` element itself disabled the automatic inference mechanism.
+   geoms. This is because the presence of the :el:`inertial` element itself disables the automatic inference mechanism.
 :at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
    Orientation of the inertial frame. See :ref:`COrientation`.
 :at:`mass`: :at-val:`real, required`

doc/programming.rst

@@ -1023,7 +1023,7 @@ management.
    for( int n=0; n<nthread; n++ )
      mj_deleteData(d[n]);
 
-Since all top-level API functions threat mjModel as ``const``, this multi-threading scheme is safe. Each thread only
+Since all top-level API functions treat mjModel as ``const``, this multi-threading scheme is safe. Each thread only
 writes to its own mjData. Therefore no further synchronization among threads is needed.
 
 The above template reflects a particular style of parallel processing. Instead of creating a large number of threads,