The F1 overlay lists only the most common commands, and there was no
complete shortcut list anywhere in the docs. Add one to the simulate
section, derived from the shortcut declarations in simulate.cc,
simulate.h, mjVISSTRING and mjRNDSTRING.
Fixes#3306
Support named CLI flags, physics overrides, and refactor global state.
- **Named CLI Flags**: Replaced standard positional arguments with named flags (`--nstep`, `--nthread`, `--noisestd`, `--noiserate`, `--npoolthread`) and preserved Google-wide flags compatibility (via custom argv compacting and InitGoogle).
- **Physics Option Overrides**: Added support for configuring loaded model settings directly from the command line (`--solver`, `--cone`, `--jacobian`, `--integrator`, `--iterations`, `--tolerance`, `--sleep_tolerance`, `--noslip_iterations`).
- **Encapsulated Thread State**: Consolidated loose global variables and per-thread rollout statistics arrays into a single data structure, `RolloutRunner runner`, simplifying mutli-threaded data boundaries.
- **Readable Physics Options Printing**: Logged configured non-default options dynamically prior to rollout. Enums and active bitmask flags (e.g. disableflags/enableflags) are decoded into friendly strings (e.g., `Sleep : Enabled`).
- **Tests & Docs**: Added testspeed_test.sh running testspeed over dominos.xml to check all overrides, registered shell test target in BUILD and CMakeLists.txt, and updated samples.rst documentation.
PiperOrigin-RevId: 942285912
Change-Id: Idb966fadfa0ccba0f1862f9d62bf83458b61939a
For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs
```
Compile 1 (cold cache):
total: 317.2 ms
assets: 284.8 ms (wall clock)
load: 616.1 ms
hull: 26.4 ms
poly: 137.8 ms
inert: 177.8 ms
bvh: 568.2 ms
octr: 1.6 ms
tex: 25.3 ms
other: 32.4 ms
Compile 2 (warm cache):
total: 79.9 ms
assets: 54.5 ms (wall clock)
load: 888.5 ms
hull: 0.0 ms
poly: 0.0 ms
inert: 0.0 ms
bvh: 0.0 ms
octr: 0.0 ms
tex: 21.4 ms
other: 25.3 ms
```
PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
Note that small videos, for some reason, need an aspect ratio that is different from the actual aspect ratio.
PiperOrigin-RevId: 724879307
Change-Id: I681f071baf4eb09cfda41edeca0d1ee16be4181a
The new video is more comprehensive and covers more features of MuJoCo.
PiperOrigin-RevId: 644758072
Change-Id: I1f114746833e00cd61b27659c816316c0e72c46c
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