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Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.

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

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
This commit is contained in:
Yuval Tassa
2024-07-30 08:40:55 -07:00
committed by Copybara-Service
parent 123a01bd83
commit 24a555062d
13 changed files with 48 additions and 23 deletions
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src/engine/engine_forward.c
+4 -4
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@@ -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;