Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.

- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a

src/engine/engine_forward.c

@@ -52,7 +52,7 @@ void mj_checkPos(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nq; i++) {
     if (mju_isBad(d->qpos[i])) {
       mj_warning(d, mjWARN_BADQPOS, i);
-      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+      if (!mjDISABLED(mjDSBL_AUTORESET)) {
         mj_resetData(m, d);
       }
       d->warning[mjWARN_BADQPOS].number++;
@@ -69,7 +69,7 @@ void mj_checkVel(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nv; i++) {
     if (mju_isBad(d->qvel[i])) {
       mj_warning(d, mjWARN_BADQVEL, i);
-      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+      if (!mjDISABLED(mjDSBL_AUTORESET)) {
         mj_resetData(m, d);
       }
       d->warning[mjWARN_BADQVEL].number++;
@@ -86,12 +86,12 @@ void mj_checkAcc(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nv; i++) {
     if (mju_isBad(d->qacc[i])) {
       mj_warning(d, mjWARN_BADQACC, i);
-      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+      if (!mjDISABLED(mjDSBL_AUTORESET)) {
         mj_resetData(m, d);
       }
       d->warning[mjWARN_BADQACC].number++;
       d->warning[mjWARN_BADQACC].lastinfo = i;
-      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+      if (!mjDISABLED(mjDSBL_AUTORESET)) {
         mj_forward(m, d);
       }
       return;

src/engine/engine_support.c

@@ -58,7 +58,7 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
   "Sensor",
   "Midphase",
   "Eulerdamp",
-  "AutoResetNaN"
+  "AutoReset"
 };
 
 

src/xml/xml_native_reader.cc

@@ -115,9 +115,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         "solver", "iterations", "ls_iterations", "noslip_iterations", "mpr_iterations",
         "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
     {"<"},
-        {"flag", "?", "21", "constraint", "equality", "frictionloss", "limit", "contact",
+        {"flag", "?", "22", "constraint", "equality", "frictionloss", "limit", "contact",
             "passive", "gravity", "clampctrl", "warmstart",
-            "filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp",
+            "filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp", "autoreset",
             "override", "energy", "fwdinv", "invdiscrete", "multiccd", "island"},
     {">"},
 
@@ -1122,6 +1122,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
     READDSBL("sensor",       mjDSBL_SENSOR)
     READDSBL("midphase",     mjDSBL_MIDPHASE)
     READDSBL("eulerdamp",    mjDSBL_EULERDAMP)
+    READDSBL("autoreset",    mjDSBL_AUTORESET)
 #undef READDSBL
 
 #define READENBL(NAME, MASK) \

src/xml/xml_native_writer.cc

@@ -1001,6 +1001,7 @@ void mjXWriter::Option(XMLElement* root) {
     WRITEDSBL("sensor",         mjDSBL_SENSOR)
     WRITEDSBL("midphase",       mjDSBL_MIDPHASE)
     WRITEDSBL("eulerdamp",      mjDSBL_EULERDAMP)
+    WRITEDSBL("autoreset",      mjDSBL_AUTORESET)
 #undef WRITEDSBL
 
 #define WRITEENBL(NAME, MASK) \