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Fix typo in mju_muscleDynamics comments.

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PiperOrigin-RevId: 690949399
Change-Id: I8102fb72cce909786eab0771467c7f6f751792bf
This commit is contained in:
Taylor Howell
2024-10-29 03:30:38 -07:00
committed by Copybara-Service
parent f1d4b23e48
commit ce5f8b4728
1 changed files with 2 additions and 2 deletions
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src/engine/engine_util_misc.c
+2 -2
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@@ -592,8 +592,8 @@ mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]) {
mjtNum actclamp = mju_clip(act, 0, 1);
// compute timescales as in Millard et al. (2013) https://doi.org/10.1115/1.4023390
mjtNum tau_act = prm[0] * (0.5 + 1.5*actclamp); // activation timscale
mjtNum tau_deact = prm[1] / (0.5 + 1.5*actclamp); // deactivation timscale
mjtNum tau_act = prm[0] * (0.5 + 1.5*actclamp); // activation timescale
mjtNum tau_deact = prm[1] / (0.5 + 1.5*actclamp); // deactivation timescale
mjtNum smoothing_width = prm[2]; // width of smoothing sigmoid
mjtNum dctrl = ctrlclamp - act; // excess excitation