Slight fix to TOPPRA comments

README.md

@@ -10,7 +10,7 @@ This allows the user to setup motion planning as an optimization problem within
 ## Features
 
 - Exposes [`KinematicTrajectoryOptimization`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1planning_1_1trajectory__optimization_1_1_kinematic_trajectory_optimization.html) implementation in `drake` as a motion planner.
-- Exposes [`TOPPRA`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_toppra.html) implementation in `drake` as a trajectory post-processor.
+- Exposes [`TOPPRA`](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_toppra.html) implementation in `drake` as a trajectory post-processing adapter.
 
 ## Docker Workflow (Preferred and tested)
 

src/add_toppra_time_parameterization.cpp

@@ -83,7 +83,7 @@ rclcpp::Logger getLogger()
 }
 }  // namespace
 /**
- * @brief Post-processing adapter that timeparametermizes a trajectory based on reachability analysis. For details see
+ * @brief Post-processing adapter that time-parameterizes a trajectory based on reachability analysis. For details see
  * https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_toppra.html
  *
  */
@@ -152,7 +152,7 @@ class AddToppraTimeParameterization : public planning_interface::PlanningRespons
       return;
     }
 
-    // Update plan from planning scene
+    // Update Drake plant from MoveIt planning scene
     auto& plant = diagram_->GetDowncastSubsystemByName<MultibodyPlant<double>>("plant");
     auto& plant_context = diagram_->GetMutableSubsystemContext(plant, diagram_context_.get());
     Eigen::VectorXd q = Eigen::VectorXd::Zero(plant.num_positions() + plant.num_velocities());