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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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src/xml/xml_native_reader.cc
+6 -4
View File
@@ -95,12 +95,12 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"inttotal", "interval", "tolrange"},
{">"},
{"option", "*", "24",
"timestep", "apirate", "impratio", "tolerance", "noslip_tolerance", "mpr_tolerance",
"gravity", "wind", "magnetic", "density", "viscosity",
{"option", "*", "26",
"timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
"mpr_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp",
"integrator", "collision", "cone", "jacobian",
"solver", "iterations", "noslip_iterations", "mpr_iterations",
"solver", "iterations", "ls_iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints"},
{"<"},
{"flag", "?", "22", "constraint", "equality", "frictionloss", "limit", "contact",
@@ -958,6 +958,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
ReadAttr(section, "apirate", 1, &opt->apirate, text);
ReadAttr(section, "impratio", 1, &opt->impratio, text);
ReadAttr(section, "tolerance", 1, &opt->tolerance, text);
ReadAttr(section, "ls_tolerance", 1, &opt->ls_tolerance, text);
ReadAttr(section, "noslip_tolerance", 1, &opt->noslip_tolerance, text);
ReadAttr(section, "mpr_tolerance", 1, &opt->mpr_tolerance, text);
ReadAttr(section, "gravity", 3, opt->gravity, text);
@@ -976,6 +977,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
MapValue(section, "jacobian", &opt->jacobian, jac_map, jac_sz);
MapValue(section, "solver", &opt->solver, solver_map, solver_sz);
ReadAttrInt(section, "iterations", &opt->iterations);
ReadAttrInt(section, "ls_iterations", &opt->ls_iterations);
ReadAttrInt(section, "noslip_iterations", &opt->noslip_iterations);
ReadAttrInt(section, "mpr_iterations", &opt->mpr_iterations);
ReadAttrInt(section, "sdf_iterations", &opt->sdf_iterations);
src/xml/xml_native_writer.cc
+2
View File
@@ -793,6 +793,7 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttr(section, "apirate", 1, &model->option.apirate, &opt.apirate);
WriteAttr(section, "impratio", 1, &model->option.impratio, &opt.impratio);
WriteAttr(section, "tolerance", 1, &model->option.tolerance, &opt.tolerance);
WriteAttr(section, "ls_tolerance", 1, &model->option.ls_tolerance, &opt.ls_tolerance);
WriteAttr(section, "noslip_tolerance", 1, &model->option.noslip_tolerance, &opt.noslip_tolerance);
WriteAttr(section, "mpr_tolerance", 1, &model->option.mpr_tolerance, &opt.mpr_tolerance);
WriteAttr(section, "gravity", 3, model->option.gravity, opt.gravity);
@@ -816,6 +817,7 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttrKey(section, "solver", solver_map, solver_sz,
model->option.solver, opt.solver);
WriteAttrInt(section, "iterations", model->option.iterations, opt.iterations);
WriteAttrInt(section, "ls_iterations", model->option.ls_iterations, opt.ls_iterations);
WriteAttrInt(section, "noslip_iterations", model->option.noslip_iterations, opt.noslip_iterations);
WriteAttrInt(section, "mpr_iterations", model->option.mpr_iterations, opt.mpr_iterations);
WriteAttrInt(section, "sdf_iterations", model->option.sdf_iterations, opt.sdf_iterations);