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Update documentation from mjData.solver_iter to mjData.solver_niter.

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PiperOrigin-RevId: 763729137
Change-Id: I1266539ead38e083d427614d50b2aa79a68aa09c
This commit is contained in:
Taylor Howell
2025-05-27 04:25:03 -07:00
committed by Copybara-Service
parent ccc912c3b0
commit de3dc7c234
3 changed files with 3 additions and 3 deletions
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doc/APIreference/APIglobals.rst
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@@ -448,7 +448,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
- 200
- The number of iterations where solver statistics can be stored in ``mjData.solver``. This array is used
to store diagnostic information about each iteration of the constraint solver.
The actual number of iterations is given by ``mjData.solver_iter``.
The actual number of iterations is given by ``mjData.solver_niter``.
* - ``mjNISLAND``
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- The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
doc/APIreference/APItypes.rst
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@@ -914,7 +914,7 @@ mjSolverStat
This is the data structure holding information about one solver iteration. ``mjData.solver`` is a preallocated array
of mjSolverStat data structures, one for each iteration of the solver, up to a maximum of mjNSOLVER. The actual number
of solver iterations is given by ``mjData.solver_iter``.
of solver iterations is given by ``mjData.solver_niter``.
.. mujoco-include:: mjSolverStat
doc/programming/simulation.rst
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@@ -807,7 +807,7 @@ to implement high-resolution timers in C without bringing in additional dependen
does not need timing, and in that case there is no reason to call timing functions.
One part of the simulation pipeline that needs to be monitored closely is the iterative constraint solver. The
simplest diagnostic here is ``mjData.solver_iter`` which shows how many iterations the solver took on the last call to
simplest diagnostic here is ``mjData.solver_niter`` which shows how many iterations the solver took on the last call to
mj_step or ``mj_forward``. Note that the solver has tolerance parameters for early termination, so this number is
usually smaller than the maximum number of iterations allowed. The array ``mjData.solver`` contains one
:ref:`mjSolverStat` data structure per iteration of the constraint solver, with information about the constraint state