From e4c3e1468b3f677b86a2fb36c265461949551e34 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 23 Aug 2023 04:24:32 -0700
Subject: [PATCH] Fix typo

PiperOrigin-RevId: 559383537
Change-Id: I9510970c26b94b8e8bb90423d6164fc82b9bd016
---
 src/engine/engine_inverse.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
index 9db983e4..e56599e2 100644
--- a/src/engine/engine_inverse.c
+++ b/src/engine/engine_inverse.c
@@ -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];