Multithread parallelizable operations in mj_fwdPosition

PiperOrigin-RevId: 572576240 Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
2023-10-11 08:00:57 -07:00
parent ba03ebdadd
commit 2842245ca9
6 changed files with 207 additions and 60 deletions
@@ -132,7 +132,7 @@ int main(int argc, char** argv) {
      "  nstep         10000       number of steps per rollout\n"
      "  nthread       1           number of threads for which to run parallel rollouts\n"
      "  ctrlnoise     0.01        scale of pseudo-random noise injected into actuators\n"
-      "  npoolthread   1           number of threads in engine-internal threadpool\n"
+      "  npoolthread   0           number of threads in engine-internal threadpool\n"
      "\n"
      "Note: If the model has a keyframe named \"test\", it will be loaded prior to simulation\n");
  }