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Add options for controlling early termination criteria of CG/Newton linesearch.

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Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
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Google DeepMind
2023-09-06 12:02:11 -07:00
committed by Copybara-Service
parent 48d0bfde44
commit 040d3efce2
13 changed files with 61 additions and 19 deletions
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doc/changelog.rst
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@@ -62,17 +62,19 @@ General
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
11. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_iterations<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
Python bindings
^^^^^^^^^^^^^^^
12. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
13. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
13. Fixed a bug that was causing the geom margins to be ignored during the midphase.
14. Fixed a bug that was causing the geom margins to be ignored during the midphase.
Version 2.3.7 (July 20, 2023)