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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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unity/Runtime/Bindings/MjBindings.cs
+2
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@@ -1769,6 +1769,7 @@ public unsafe struct mjOption_ {
public double apirate;
public double impratio;
public double tolerance;
public double ls_tolerance;
public double noslip_tolerance;
public double mpr_tolerance;
public fixed double gravity[3];
@@ -1785,6 +1786,7 @@ public unsafe struct mjOption_ {
public int jacobian;
public int solver;
public int iterations;
public int ls_iterations;
public int noslip_iterations;
public int mpr_iterations;
public int disableflags;