Update documentation from mjData.solver_iter to mjData.solver_niter.

PiperOrigin-RevId: 763729137 Change-Id: I1266539ead38e083d427614d50b2aa79a68aa09c
2025-05-27 04:25:03 -07:00
parent ccc912c3b0
commit de3dc7c234
3 changed files with 3 additions and 3 deletions
@@ -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