Rename inteval attribute in mjLROpt to interval.

PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273

doc/XMLreference.rst

@@ -297,7 +297,7 @@ disable length range computations altogether, include this element and set mode=
 :at:`inttotal`: :at-val:`real, "10"`
    The total time interval (in seconds) for running the internal simulation, for each actuator and actuator direction.
    Each simulation is initialized at qpos0. It is expected to settle after inttotal time has passed.
-:at:`inteval`: :at-val:`real, "2"`
+:at:`interval`: :at-val:`real, "2"`
    The time interval at the end of the simulation over which length data is collected and analyzed. The maximum (or
    respectively minimum) length achieved during this interval is recorded. The difference between the maximum and
    minimum is also recorded and is used as a measure of divergence. If the simulation settles, this difference will be
@@ -308,7 +308,7 @@ disable length range computations altogether, include this element and set mode=
    prevent actuators from having infinite length.
 :at:`tolrange`: :at-val:`real, "0.05"`
    This determines the threshold for detecting divergence and generating a compiler error. The range of actuator lengths
-   observed during inteval is divided by the overall range computed via simulation. If that value is larger than
+   observed during interval is divided by the overall range computed via simulation. If that value is larger than
    tolrange, a compiler error is generated. So one way to suppress compiler errors is to simply make this attribute
    larger, but in that case the results could be inaccurate.
 

doc/XMLschema.rst

@@ -33,7 +33,7 @@
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`accel`             | :at:`maxforce`          | :at:`timeconst`         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`timestep`          | :at:`inttotal`          | :at:`inteval`           | |
+|                          |    |    | :at:`timestep`          | :at:`inttotal`          | :at:`interval`          | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`tolrange`          |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |

doc/changelog.rst

@@ -9,6 +9,7 @@ General
 ^^^^^^^
 
 - The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
+- Corrected the spelling of the ``inteval`` attribute to ``interval`` in the ``mjLROpt`` struct.
 
 Python bindings
 ^^^^^^^^^^^^^^^

doc/includes/references.h

@@ -586,13 +586,13 @@ struct mjLROpt_ {                 // options for mj_setLengthRange()
   mjtNum timeconst;               // time constant for velocity reduction; min 0.01
   mjtNum timestep;                // simulation timestep; 0: use mjOption.timestep
   mjtNum inttotal;                // total simulation time interval
-  mjtNum inteval;                 // evaluation time interval (at the end)
+  mjtNum interval;                // evaluation time interval (at the end)
   mjtNum tolrange;                // convergence tolerance (relative to range)
 };
 typedef struct mjLROpt_ mjLROpt;
 struct mjVFS_ {                   // virtual file system for loading from memory
   int   nfile;                    // number of files present
-  char  filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
+  char  filename[mjMAXVFS][mjMAXVFSNAME];  // file name without path
   int   filesize[mjMAXVFS];       // file size in bytes
   void* filedata[mjMAXVFS];       // buffer with file data
 };

include/mujoco/mjmodel.h

@@ -362,7 +362,7 @@ struct mjLROpt_ {                 // options for mj_setLengthRange()
   mjtNum timeconst;               // time constant for velocity reduction; min 0.01
   mjtNum timestep;                // simulation timestep; 0: use mjOption.timestep
   mjtNum inttotal;                // total simulation time interval
-  mjtNum inteval;                 // evaluation time interval (at the end)
+  mjtNum interval;                // evaluation time interval (at the end)
   mjtNum tolrange;                // convergence tolerance (relative to range)
 };
 typedef struct mjLROpt_ mjLROpt;
@@ -372,7 +372,7 @@ typedef struct mjLROpt_ mjLROpt;
 
 struct mjVFS_ {                   // virtual file system for loading from memory
   int   nfile;                    // number of files present
-  char  filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
+  char  filename[mjMAXVFS][mjMAXVFSNAME];  // file name without path
   int   filesize[mjMAXVFS];       // file size in bytes
   void* filedata[mjMAXVFS];       // buffer with file data
 };

python/mujoco/structs.cc

@@ -1940,7 +1940,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(timeconst);
   X(timestep);
   X(inttotal);
-  X(inteval);
+  X(interval);
   X(tolrange);
 #undef X
 

src/engine/engine_io.c

@@ -50,7 +50,7 @@ void mj_defaultLROpt(mjLROpt* opt) {
   opt->timeconst      = 1;
   opt->timestep       = 0.01;
   opt->inttotal       = 10;
-  opt->inteval        = 2;
+  opt->interval       = 2;
   opt->tolrange       = 0.05;
 }
 

src/engine/engine_setconst.c

@@ -508,7 +508,7 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
       }
 
       // update limits
-      if (d->time > opt->inttotal-opt->inteval) {
+      if (d->time > opt->inttotal-opt->interval) {
         if (len<lmin[side] || !updated) {
           lmin[side] = len;
         }

src/xml/xml_native_reader.cc

@@ -91,7 +91,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
     {"<"},
         {"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
             "accel", "maxforce", "timeconst", "timestep",
-            "inttotal", "inteval", "tolrange"},
+            "inttotal", "interval", "tolrange"},
     {">"},
 
     {"option", "*", "22",
@@ -923,7 +923,7 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
     ReadAttr(elem, "timeconst", 1, &opt->timeconst, text);
     ReadAttr(elem, "timestep", 1, &opt->timestep, text);
     ReadAttr(elem, "inttotal", 1, &opt->inttotal, text);
-    ReadAttr(elem, "inteval", 1, &opt->inteval, text);
+    ReadAttr(elem, "interval", 1, &opt->interval, text);
     ReadAttr(elem, "tolrange", 1, &opt->tolrange, text);
   }
 }

unity/Runtime/Bindings/MjBindings.cs

@@ -1706,7 +1706,7 @@ public unsafe struct mjLROpt_ {
   public double timeconst;
   public double timestep;
   public double inttotal;
-  public double inteval;
+  public double interval;
   public double tolrange;
 }