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

Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb

introspect/structs.py

@@ -148,6 +148,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtNum'),
                  doc='main solver tolerance',
              ),
+             StructFieldDecl(
+                 name='ls_tolerance',
+                 type=ValueType(name='mjtNum'),
+                 doc='CG/Newton linesearch tolerance',
+             ),
              StructFieldDecl(
                  name='noslip_tolerance',
                  type=ValueType(name='mjtNum'),
@@ -243,6 +248,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='maximum number of main solver iterations',
              ),
+             StructFieldDecl(
+                 name='ls_iterations',
+                 type=ValueType(name='int'),
+                 doc='maximum number of CG/Newton linesearch iterations',
+             ),
              StructFieldDecl(
                  name='noslip_iterations',
                  type=ValueType(name='int'),