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Fix load time reporting in simulate.

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Before this change, a model which took more than 1/4 seconds to load caused the simulation to pause, which is a behavior that is only supposed to occur for models that loaded with a warning.

PiperOrigin-RevId: 665786861
Change-Id: Ie3a6c8d18a6abbb425a0bbcc5a8e55d5fd7a0c72
This commit is contained in:
Yuval Tassa
2024-08-21 02:53:03 -07:00
committed by Copybara-Service
parent ad9cd7301e
commit cf3e60f9a4
1 changed files with 7 additions and 7 deletions
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simulate/main.cc
+7 -7
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@@ -245,13 +245,6 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
auto load_interval = mj::Simulate::Clock::now() - load_start; auto load_interval = mj::Simulate::Clock::now() - load_start;
double load_seconds = Seconds(load_interval).count(); double load_seconds = Seconds(load_interval).count();
// if no error and load took more than 1/4 seconds, report load time
if (!loadError[0] && load_seconds > 0.25) {
mju::sprintf_arr(loadError, "Model loaded in %.2g seconds", load_seconds);
}
mju::strcpy_arr(sim.load_error, loadError);
if (!mnew) { if (!mnew) {
std::printf("%s\n", loadError); std::printf("%s\n", loadError);
return nullptr; return nullptr;
@@ -264,6 +257,13 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
sim.run = 0; sim.run = 0;
} }
// if no error and load took more than 1/4 seconds, report load time
if (!loadError[0] && load_seconds > 0.25) {
mju::sprintf_arr(loadError, "Model loaded in %.2g seconds", load_seconds);
}
mju::strcpy_arr(sim.load_error, loadError);
return mnew; return mnew;
} }