Change everywhere linesearch to iterative (newton-physics#1573)

Author: Kenny-Vilella

asv/benchmarks/benchmark_mujoco.py

@@ -40,55 +40,55 @@
         "integrator": "implicitfast",
         "njmax": 80,
         "nconmax": 25,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "pyramidal",
     },
     "g1": {
         "solver": "newton",
         "integrator": "implicitfast",
         "njmax": 210,
         "nconmax": 35,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "pyramidal",
     },
     "h1": {
         "solver": "newton",
         "integrator": "implicitfast",
         "njmax": 65,
         "nconmax": 15,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "pyramidal",
     },
     "cartpole": {
         "solver": "newton",
         "integrator": "implicitfast",
         "njmax": 5,
         "nconmax": 0,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "pyramidal",
     },
     "ant": {
         "solver": "newton",
         "integrator": "implicitfast",
         "njmax": 38,
         "nconmax": 15,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "pyramidal",
     },
     "quadruped": {
         "solver": "newton",
         "integrator": "implicitfast",
         "njmax": 75,
         "nconmax": 50,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "pyramidal",
     },
     "allegro": {
         "solver": "newton",
         "integrator": "implicitfast",
         "njmax": 60,
         "nconmax": 40,
-        "ls_parallel": True,
+        "ls_parallel": False,
         "cone": "elliptic",
     },
     "kitchen": {

newton/examples/contacts/example_sdf.py

@@ -174,7 +174,6 @@ def __init__(self, viewer, num_worlds=1, num_per_world=1, scene="nut_bolt", solv
                 nconmax=num_per_world,
                 iterations=15,
                 ls_iterations=100,
-                ls_parallel=True,
                 impratio=1.0,
             )
         else:

newton/examples/ik/example_ik_cube_stacking.py

@@ -238,7 +238,6 @@ def __init__(self, viewer, num_worlds=4, headless=False, args=None):
             solver="newton",
             integrator="implicitfast",
             iterations=20,
-            ls_parallel=True,
             ls_iterations=100,
             nconmax=1000,
             njmax=2000,

newton/examples/mpm/example_mpm_anymal.py

@@ -154,7 +154,6 @@ def __init__(
         # setup solvers
         self.solver = newton.solvers.SolverMuJoCo(
             self.model,
-            ls_parallel=True,
             ls_iterations=50,
             njmax=50,  # ls_iterations=50 for determinism
         )

newton/examples/robot/example_robot_anymal_c_walk.py

@@ -171,7 +171,7 @@ def __init__(self, viewer, args=None):
             self.model,
             use_mujoco_contacts=use_mujoco_contacts,
             solver="newton",
-            ls_parallel=True,
+            ls_parallel=False,
             ls_iterations=50,  # Increased from default 10 for determinism
             njmax=50,
             nconmax=100,  # Increased from 75 to handle peak contact count of ~77

newton/examples/robot/example_robot_panda_hydro.py

@@ -251,7 +251,6 @@ def __init__(self, viewer, scene=SceneType.PEN, num_worlds=1, test_mode=False):
             nconmax=500,
             iterations=15,
             ls_iterations=100,
-            ls_parallel=True,
             impratio=1000.0,
         )
 

newton/tests/test_hydroelastic.py

@@ -62,7 +62,6 @@ class ShapeType(Enum):
         njmax=500,
         nconmax=200,
         solver="newton",
-        ls_parallel=True,
         ls_iterations=100,
     ),
     "xpbd": lambda model: newton.solvers.SolverXPBD(model, iterations=10),
@@ -322,7 +321,6 @@ def test_mujoco_hydroelastic_penetration_depth(test, device):
         nconmax=2000,
         iterations=20,
         ls_iterations=100,
-        ls_parallel=True,
         impratio=1000.0,
     )