From ce5f8b472841d2e02d9441d008355e2057f5b3a8 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 29 Oct 2024 03:30:38 -0700 Subject: [PATCH] Fix typo in `mju_muscleDynamics` comments. PiperOrigin-RevId: 690949399 Change-Id: I8102fb72cce909786eab0771467c7f6f751792bf --- src/engine/engine_util_misc.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c index 4aada4b9..15bad4cc 100644 --- a/src/engine/engine_util_misc.c +++ b/src/engine/engine_util_misc.c @@ -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