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

Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb

include/mujoco/mjmodel.h

@@ -397,6 +397,7 @@ struct mjOption_ {                // physics options
   // solver parameters
   mjtNum impratio;                // ratio of friction-to-normal contact impedance
   mjtNum tolerance;               // main solver tolerance
+  mjtNum ls_tolerance;            // CG/Newton linesearch tolerance
   mjtNum noslip_tolerance;        // noslip solver tolerance
   mjtNum mpr_tolerance;           // MPR solver tolerance
 
@@ -419,6 +420,7 @@ struct mjOption_ {                // physics options
   int jacobian;                   // type of Jacobian (mjtJacobian)
   int solver;                     // solver algorithm (mjtSolver)
   int iterations;                 // maximum number of main solver iterations
+  int ls_iterations;              // maximum number of CG/Newton linesearch iterations
   int noslip_iterations;          // maximum number of noslip solver iterations
   int mpr_iterations;             // maximum number of MPR solver iterations
   int disableflags;               // bit flags for disabling standard features

include/mujoco/mjxmacro.h

@@ -24,6 +24,7 @@
     X( mjtNum,  apirate          )  \
     X( mjtNum,  impratio         )  \
     X( mjtNum,  tolerance        )  \
+    X( mjtNum,  ls_tolerance     )  \
     X( mjtNum,  noslip_tolerance )  \
     X( mjtNum,  mpr_tolerance    )  \
     X( mjtNum,  density          )  \
@@ -38,6 +39,7 @@
     X( int,     jacobian          ) \
     X( int,     solver            ) \
     X( int,     iterations        ) \
+    X( int,     ls_iterations     ) \
     X( int,     noslip_iterations ) \
     X( int,     mpr_iterations    ) \
     X( int,     disableflags      ) \