Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.

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

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a

doc/XMLreference.rst

@@ -577,6 +577,11 @@ from its default.
    This flag disables implicit integration with respect to joint damping in the Euler integrator. See the
    :ref:`Numerical Integration<geIntegration>` section for more details.
 
+.. _option-flag-autoreset:
+
+:at:`autoreset`: :at-val:`[disable, enable], "enable"`
+   This flag disables the automatic reseting of the simulation state when numerical issues are detected.
+
 .. _option-flag-override:
 
 :at:`override`: :at-val:`[disable, enable], "disable"`

doc/XMLschema.rst

@@ -35,11 +35,11 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`warmstart<option-flag-warmstart>`                         | :ref:`filterparent<option-flag-filterparent>`                   | :ref:`actuation<option-flag-actuation>`                         | :ref:`refsafe<option-flag-refsafe>`                             | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`sensor<option-flag-sensor>`                               | :ref:`midphase<option-flag-midphase>`                           | :ref:`eulerdamp<option-flag-eulerdamp>`                         | :ref:`override<option-flag-override>`                           | |
+|                                    |    |    | :ref:`sensor<option-flag-sensor>`                               | :ref:`midphase<option-flag-midphase>`                           | :ref:`eulerdamp<option-flag-eulerdamp>`                         | :ref:`autoreset<option-flag-autoreset>`                         | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`energy<option-flag-energy>`                               | :ref:`fwdinv<option-flag-fwdinv>`                               | :ref:`invdiscrete<option-flag-invdiscrete>`                     | :ref:`multiccd<option-flag-multiccd>`                           | |
+|                                    |    |    | :ref:`override<option-flag-override>`                           | :ref:`energy<option-flag-energy>`                               | :ref:`fwdinv<option-flag-fwdinv>`                               | :ref:`invdiscrete<option-flag-invdiscrete>`                     | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`island<option-flag-island>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`multiccd<option-flag-multiccd>`                           | :ref:`island<option-flag-island>`                               |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |

doc/changelog.rst

@@ -8,7 +8,8 @@ Upcoming version (not yet released)
 General
 ^^^^^^^
 1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
-2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
+2. Added a new :ref:`autoreset<option-flag-autoreset>` flag to disable automatic reset when NaNs or infinities are
+   detected.
 3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
    for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't
    support these new features, and they are made available for use with external renderers.

doc/includes/references.h

@@ -418,7 +418,7 @@ typedef enum mjtDisableBit_ {     // disable default feature bitflags
   mjDSBL_SENSOR       = 1<<12,    // sensors
   mjDSBL_MIDPHASE     = 1<<13,    // mid-phase collision filtering
   mjDSBL_EULERDAMP    = 1<<14,    // implicit integration of joint damping in Euler integrator
-  mjDSBL_AUTORESETNAN = 1<<15,    // automatic reset when numerical issues are detected
+  mjDSBL_AUTORESET    = 1<<15,    // automatic reset when numerical issues are detected
 
   mjNDISABLE          = 16        // number of disable flags
 } mjtDisableBit;

include/mujoco/mjmodel.h

@@ -61,7 +61,7 @@ typedef enum mjtDisableBit_ {     // disable default feature bitflags
   mjDSBL_SENSOR       = 1<<12,    // sensors
   mjDSBL_MIDPHASE     = 1<<13,    // mid-phase collision filtering
   mjDSBL_EULERDAMP    = 1<<14,    // implicit integration of joint damping in Euler integrator
-  mjDSBL_AUTORESETNAN = 1<<15,    // automatic reset when numerical issues are detected
+  mjDSBL_AUTORESET    = 1<<15,    // automatic reset when numerical issues are detected
 
   mjNDISABLE          = 16        // number of disable flags
 } mjtDisableBit;

introspect/enums.py

@@ -42,7 +42,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDSBL_SENSOR', 4096),
              ('mjDSBL_MIDPHASE', 8192),
              ('mjDSBL_EULERDAMP', 16384),
-             ('mjDSBL_AUTORESETNAN', 32768),
+             ('mjDSBL_AUTORESET', 32768),
              ('mjNDISABLE', 16),
          ]),
      )),

simulate/main.cc

@@ -199,6 +199,16 @@ void scanPluginLibraries() {
 
 //------------------------------------------- simulation -------------------------------------------
 
+const char* Diverged(int disableflags, const mjData* d) {
+  if (disableflags & mjDSBL_AUTORESET) {
+    for (mjtWarning w : {mjWARN_BADQACC, mjWARN_BADQVEL, mjWARN_BADQPOS}) {
+      if (d->warning[w].number > 0) {
+        return mju_warningText(w, d->warning[w].lastinfo);
+      }
+    }
+  }
+  return nullptr;
+}
 
 mjModel* LoadModel(const char* file, mj::Simulate& sim) {
   // this copy is needed so that the mju::strlen call below compiles
@@ -356,7 +366,13 @@ void PhysicsLoop(mj::Simulate& sim) {
 
             // run single step, let next iteration deal with timing
             mj_step(m, d);
-            stepped = true;
+            const char* message = Diverged(m->opt.disableflags, d);
+            if (message) {
+              sim.run = 0;
+              mju::strcpy_arr(sim.load_error, message);
+            } else {
+              stepped = true;
+            }
           }
 
           // in-sync: step until ahead of cpu
@@ -381,7 +397,13 @@ void PhysicsLoop(mj::Simulate& sim) {
 
               // call mj_step
               mj_step(m, d);
-              stepped = true;
+              const char* message = Diverged(m->opt.disableflags, d);
+              if (message) {
+                sim.run = 0;
+                mju::strcpy_arr(sim.load_error, message);
+              } else {
+                stepped = true;
+              }
 
               // break if reset
               if (d->time < prevSim) {

simulate/simulate.cc

@@ -739,18 +739,12 @@ void MakePhysicsSection(mj::Simulate* sim) {
   for (int i=0; i<mjNDISABLE; i++) {
     mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
     defFlag[0].pdata = sim->disable + i;
-    if ((1 << i) == mjDSBL_AUTORESETNAN) {
-      defFlag[0].state = 0;
-    } else {
-      defFlag[0].state = 2;
-    }
     mjui_add(&sim->ui0, defFlag);
   }
   mjui_add(&sim->ui0, defEnableFlags);
   for (int i=0; i<mjNENABLE; i++) {
     mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
     defFlag[0].pdata = sim->enable + i;
-    defFlag[0].state = 2;
     mjui_add(&sim->ui0, defFlag);
   }
   // add contact override
@@ -1956,6 +1950,7 @@ void Simulate::Sync() {
   if (pending_.reset) {
     mj_resetData(m_, d_);
     mj_forward(m_, d_);
+    load_error[0] = '\0';
     update_profiler = true;
     update_sensor = true;
     scrub_index = 0;

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) \

unity/Runtime/Bindings/MjBindings.cs

@@ -157,7 +157,7 @@ public enum mjtDisableBit : int{
   mjDSBL_SENSOR = 4096,
   mjDSBL_MIDPHASE = 8192,
   mjDSBL_EULERDAMP = 16384,
-  mjDSBL_AUTORESETNAN = 32768,
+  mjDSBL_AUTORESET = 32768,
   mjNDISABLE = 16,
 }
 public enum mjtEnableBit : int{