typo on contact models

Author: simon-lc

docs/src/solver_options.md

@@ -1,10 +1,8 @@
 # Solver Options
 
-The solver we implemented has several options all accessible via [`SolverOptions`](@ref). Here is a list describing what they are, their typical values and their impact on the solver's behavior.
+The solver we implemented has several options all accessible via [`SolverOptions`](@ref). Here is a list describing their impact on the solver's behavior, their typical values and if they need to be tuned.
 
 
-Increasing $b_{tol}$ results in smoothed contact dynamics.
-
 | option                  | min $\cdot$ default $\cdot$ max values | effect | require tuning |
 | ----------------------- | -------------------------------------- | ------ | -------------- |
 | `rtol`                  | $10^{-6}$ $\cdot$ $10^{-4}$ $\cdot$ $10^{-2}$ | larger leads to faster solve (usually takes the same value as `btol`) | rarely |