Add a new disable flag mjDSBL_AUTORESETNAN.

PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8

doc/changelog.rst

@@ -9,15 +9,16 @@ General
 ^^^^^^^
 
 1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
+2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
 
 MJX
 ^^^
 
-2. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
+3. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
 
 Python bindings
 ^^^^^^^^^^^^^^^
-2. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
+4. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
    ``mujoco.spec.compile``.
 
 Version 3.2.0 (Jul 15, 2024)

doc/includes/references.h

@@ -418,8 +418,9 @@ typedef enum mjtDisableBit_ {     // disable default feature bitflags
   mjDSBL_SENSOR       = 1<<12,    // sensors
   mjDSBL_MIDPHASE     = 1<<13,    // mid-phase collision filtering
   mjDSBL_EULERDAMP    = 1<<14,    // implicit integration of joint damping in Euler integrator
+  mjDSBL_AUTORESETNAN = 1<<15,    // automatic reset when numerical issues are detected
 
-  mjNDISABLE          = 15        // number of disable flags
+  mjNDISABLE          = 16        // number of disable flags
 } mjtDisableBit;
 typedef enum mjtEnableBit_ {      // enable optional feature bitflags
   mjENBL_OVERRIDE     = 1<<0,     // override contact parameters

include/mujoco/mjmodel.h

@@ -61,8 +61,9 @@ typedef enum mjtDisableBit_ {     // disable default feature bitflags
   mjDSBL_SENSOR       = 1<<12,    // sensors
   mjDSBL_MIDPHASE     = 1<<13,    // mid-phase collision filtering
   mjDSBL_EULERDAMP    = 1<<14,    // implicit integration of joint damping in Euler integrator
+  mjDSBL_AUTORESETNAN = 1<<15,    // automatic reset when numerical issues are detected
 
-  mjNDISABLE          = 15        // number of disable flags
+  mjNDISABLE          = 16        // number of disable flags
 } mjtDisableBit;
 
 

introspect/enums.py

@@ -42,7 +42,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDSBL_SENSOR', 4096),
              ('mjDSBL_MIDPHASE', 8192),
              ('mjDSBL_EULERDAMP', 16384),
-             ('mjNDISABLE', 15),
+             ('mjDSBL_AUTORESETNAN', 32768),
+             ('mjNDISABLE', 16),
          ]),
      )),
     ('mjtEnableBit',

simulate/simulate.cc

@@ -739,12 +739,18 @@ void MakePhysicsSection(mj::Simulate* sim) {
   for (int i=0; i<mjNDISABLE; i++) {
     mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
     defFlag[0].pdata = sim->disable + i;
+    if ((1 << i) == mjDSBL_AUTORESETNAN) {
+      defFlag[0].state = 0;
+    } else {
+      defFlag[0].state = 2;
+    }
     mjui_add(&sim->ui0, defFlag);
   }
   mjui_add(&sim->ui0, defEnableFlags);
   for (int i=0; i<mjNENABLE; i++) {
     mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
     defFlag[0].pdata = sim->enable + i;
+    defFlag[0].state = 2;
     mjui_add(&sim->ui0, defFlag);
   }
   // add contact override

src/engine/engine_forward.c

@@ -52,7 +52,9 @@ void mj_checkPos(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nq; i++) {
     if (mju_isBad(d->qpos[i])) {
       mj_warning(d, mjWARN_BADQPOS, i);
-      mj_resetData(m, d);
+      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+        mj_resetData(m, d);
+      }
       d->warning[mjWARN_BADQPOS].number++;
       d->warning[mjWARN_BADQPOS].lastinfo = i;
       return;
@@ -67,7 +69,9 @@ void mj_checkVel(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nv; i++) {
     if (mju_isBad(d->qvel[i])) {
       mj_warning(d, mjWARN_BADQVEL, i);
-      mj_resetData(m, d);
+      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+        mj_resetData(m, d);
+      }
       d->warning[mjWARN_BADQVEL].number++;
       d->warning[mjWARN_BADQVEL].lastinfo = i;
       return;
@@ -82,10 +86,14 @@ void mj_checkAcc(const mjModel* m, mjData* d) {
   for (int i=0; i < m->nv; i++) {
     if (mju_isBad(d->qacc[i])) {
       mj_warning(d, mjWARN_BADQACC, i);
-      mj_resetData(m, d);
+      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+        mj_resetData(m, d);
+      }
       d->warning[mjWARN_BADQACC].number++;
       d->warning[mjWARN_BADQACC].lastinfo = i;
-      mj_forward(m, d);
+      if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
+        mj_forward(m, d);
+      }
       return;
     }
   }

src/engine/engine_support.c

@@ -57,7 +57,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
   "Refsafe",
   "Sensor",
   "Midphase",
-  "Eulerdamp"
+  "Eulerdamp",
+  "AutoResetNaN"
 };
 
 

unity/Runtime/Bindings/MjBindings.cs

@@ -157,7 +157,8 @@ public enum mjtDisableBit : int{
   mjDSBL_SENSOR = 4096,
   mjDSBL_MIDPHASE = 8192,
   mjDSBL_EULERDAMP = 16384,
-  mjNDISABLE = 15,
+  mjDSBL_AUTORESETNAN = 32768,
+  mjNDISABLE = 16,
 }
 public enum mjtEnableBit : int{
   mjENBL_OVERRIDE = 1,