Fix typo

PiperOrigin-RevId: 559383537 Change-Id: I9510970c26b94b8e8bb90423d6164fc82b9bd016
2023-08-23 04:24:32 -07:00
parent 90f58ebe5d
commit e4c3e1468b
1 changed files with 1 additions and 1 deletions
@@ -151,7 +151,7 @@ void mj_inverseSkip(const mjModel* m, mjData* d,
    mj_sensorAcc(m, d);
  }

-  // qfrc_inverse += artmature*qacc - qfrc_passive - qfrc_constraint
+  // qfrc_inverse += armature*qacc - qfrc_passive - qfrc_constraint
  for (int i=0; i < nv; i++) {
    d->qfrc_inverse[i] += m->dof_armature[i]*d->qacc[i]
                          - d->qfrc_passive[i] - d->qfrc_constraint[i];