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Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE.

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- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
This commit is contained in:
Yuval Tassa
2023-09-16 08:02:38 -07:00
committed by Copybara-Service
parent e76e1c72f9
commit 63fd23a934
7 changed files with 18 additions and 11 deletions
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include/mujoco/mjdata.h
+1 -1
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@@ -72,8 +72,8 @@ typedef enum mjtTimer_ { // internal timers
mjTIMER_POSITION, // fwdPosition
mjTIMER_VELOCITY, // fwdVelocity
mjTIMER_ACTUATION, // fwdActuation
mjTIMER_ACCELERATION, // fwdAcceleration
mjTIMER_CONSTRAINT, // fwdConstraint
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
// breakdown of fwdPosition
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission