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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
This commit is contained in:
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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simulate/simulate.cc
+3 -1
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@@ -602,9 +602,11 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
{mjITEM_EDITNUM, "Timestep", 2, &(opt->timestep), "1 0 1"},
{mjITEM_EDITINT, "Iterations", 2, &(opt->iterations), "1 0 1000"},
{mjITEM_EDITNUM, "Tolerance", 2, &(opt->tolerance), "1 0 1"},
{mjITEM_EDITINT, "LS Iter", 2, &(opt->ls_iterations), "1 0 100"},
{mjITEM_EDITNUM, "LS Tol", 2, &(opt->ls_tolerance), "1 0 0.1"},
{mjITEM_EDITINT, "Noslip Iter", 2, &(opt->noslip_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "Noslip Tol", 2, &(opt->noslip_tolerance), "1 0 1"},
{mjITEM_EDITINT, "MRR Iter", 2, &(opt->mpr_iterations), "1 0 1000"},
{mjITEM_EDITINT, "MPR Iter", 2, &(opt->mpr_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "MPR Tol", 2, &(opt->mpr_tolerance), "1 0 1"},
{mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"},
{mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"},