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Rename efc_diagApprox -> efc_diagA.

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The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.

PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
This commit is contained in:
Yuval Tassa
2026-05-31 04:53:36 -07:00
committed by Copybara-Service
parent cd6db9ebe2
commit 4548e81e4d
13 changed files with 32 additions and 28 deletions
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doc/changelog.rst
+4
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@@ -28,6 +28,10 @@ General
(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
allocated on the stack.
- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
the :math:`A` ("Delassus") matrix.
Bug fixes
^^^^^^^^^
- Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.
doc/includes/references.h
+1 -1
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@@ -318,7 +318,7 @@ struct mjData_ {
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_diagA; // diagonal of A matrix, approximate or exact (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
include/mujoco/mjdata.h
+1 -1
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@@ -341,7 +341,7 @@ struct mjData_ {
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_diagA; // diagonal of A matrix, approximate or exact (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
include/mujoco/mjxmacro.h
+1 -1
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@@ -933,7 +933,7 @@
X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_diagA, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
X ( mjtNum, efc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_R, MJ_D(nefc), 1 ) \
python/mujoco/introspect/structs.py
+2 -2
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@@ -6406,11 +6406,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
array_extent=('nefc',),
),
StructFieldDecl(
name='efc_diagApprox',
name='efc_diagA',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='approximation to diagonal of A',
doc='diagonal of A matrix, approximate or exact',
array_extent=('nefc',),
),
StructFieldDecl(
src/engine/engine_core_constraint.c
+12 -12
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@@ -1651,7 +1651,7 @@ void mj_instantiateContact(const mjModel* m, mjData* d) {
void mj_diagApprox(const mjModel* m, mjData* d) {
int id, dim, b1, b2, f, weldcnt = 0;
int nefc = d->nefc;
mjtNum tran, rot, fri, *dA = d->efc_diagApprox;
mjtNum tran, rot, fri, *dA = d->efc_diagA;
mjContact* con = NULL;
// loop over all constraints, compute approximate inverse inertia
@@ -2079,7 +2079,7 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
}
// compute efc_R, efc_D, efc_KBIP, adjust efc_diagApprox
// compute efc_R, efc_D, efc_KBIP, adjust efc_diagA
void mj_makeImpedance(const mjModel* m, mjData* d) {
int dim, nefc = d->nefc;
mjtNum *R = d->efc_R, *KBIP = d->efc_KBIP;
@@ -2099,7 +2099,7 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
// set R and KBIP for all constraint dimensions
for (int j=0; j < dim; j++) {
// R = (1-imp)/imp * diagApprox
R[i+j] = mju_max(mjMINVAL, (1-imp)*d->efc_diagApprox[i+j]/imp);
R[i+j] = mju_max(mjMINVAL, (1-imp)*d->efc_diagA[i+j]/imp);
// constraint type
int tp = d->efc_type[i+j];
@@ -2190,9 +2190,9 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
d->efc_D[i] = 1 / R[i];
}
// adjust diagApprox so that R = (1-imp)/imp * diagApprox
// adjust diagA so that R = (1-imp)/imp * diagA
for (int i=0; i < nefc; i++) {
d->efc_diagApprox[i] = R[i] * KBIP[4*i+2] / (1-KBIP[4*i+2]);
d->efc_diagA[i] = R[i] * KBIP[4*i+2] / (1-KBIP[4*i+2]);
}
}
@@ -2830,12 +2830,12 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
// compute diagApprox
mj_diagApprox(m, d);
// compute KBIP, D, R, adjust diagApprox
// compute KBIP, D, R, adjust diagA
mj_makeImpedance(m, d);
}
// compute Y = J*M^{-1/2}; if flg_diagexact, overwrite efc_diagApprox with ||Y_i||^2
// compute Y = J*M^{-1/2}; if flg_diagexact, overwrite efc_diagA with ||Y_i||^2
static void mj_makeY(const mjModel* m, mjData* d, int flg_diagexact) {
int nefc = d->nefc, nv = m->nv;
@@ -2888,12 +2888,12 @@ static void mj_makeY(const mjModel* m, mjData* d, int flg_diagexact) {
d->efc_Y_colind, nefc,
d->qLD, m->M_rownnz, m->M_rowadr, m->M_colind, sqrtInvD);
// overwrite diagApprox with exact diagonal: diagApprox[i] = ||Y_i||^2
// overwrite diagA with exact diagonal: diagA[i] = ||Y_i||^2
if (flg_diagexact) {
for (int i=0; i < nefc; i++) {
int adr = d->efc_Y_rowadr[i];
int nnz = d->efc_Y_rownnz[i];
d->efc_diagApprox[i] = mju_dot(d->efc_Y+adr, d->efc_Y+adr, nnz);
d->efc_diagA[i] = mju_dot(d->efc_Y+adr, d->efc_Y+adr, nnz);
}
}
}
@@ -2914,10 +2914,10 @@ static void mj_makeY(const mjModel* m, mjData* d, int flg_diagexact) {
// Y = backsubM2(J')'
mj_solveM2(m, d, d->efc_Y, d->efc_J, sqrtInvD, nefc);
// overwrite diagApprox with exact diagonal: diagApprox[i] = ||Y_i||^2
// overwrite diagA with exact diagonal: diagA[i] = ||Y_i||^2
if (flg_diagexact) {
for (int i=0; i < nefc; i++) {
d->efc_diagApprox[i] = mju_dot(d->efc_Y+i*nv, d->efc_Y+i*nv, nv);
d->efc_diagA[i] = mju_dot(d->efc_Y+i*nv, d->efc_Y+i*nv, nv);
}
}
}
@@ -3023,7 +3023,7 @@ static void mj_makeAR(const mjModel* m, mjData* d) {
}
// compute efc_Y, optionally efc_diagApprox, optionally efc_AR
// compute efc_Y, optionally efc_diagA, optionally efc_AR
void mj_projectConstraint(const mjModel* m, mjData* d) {
int nefc = d->nefc;
src/engine/engine_core_constraint.h
+2 -2
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@@ -74,10 +74,10 @@ int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int di
//------------------------ parameter computation/extraction ----------------------------------------
// compute efc_diagApprox
// compute efc_diagA
void mj_diagApprox(const mjModel* m, mjData* d);
// compute efc_R, efc_D, efc_KDIP, adjust diagApprox
// compute efc_R, efc_D, efc_KDIP, adjust diagA
void mj_makeImpedance(const mjModel* m, mjData* d);
src/engine/engine_print.c
+1 -1
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@@ -1598,7 +1598,7 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArray2d("EFC_POS", d->nefc, 1, d->efc_pos, fp, float_format);
printArray2d("EFC_MARGIN", d->nefc, 1, d->efc_margin, fp, float_format);
printArray2d("EFC_FRICTIONLOSS", d->nefc, 1, d->efc_frictionloss, fp, float_format);
printArray2d("EFC_DIAGAPPROX", d->nefc, 1, d->efc_diagApprox, fp, float_format);
printArray2d("EFC_DIAGA", d->nefc, 1, d->efc_diagA, fp, float_format);
printArray2d("EFC_KBIP", d->nefc, 4, d->efc_KBIP, fp, float_format);
printArray2d("EFC_D", d->nefc, 1, d->efc_D, fp, float_format);
printArray2d("EFC_R", d->nefc, 1, d->efc_R, fp, float_format);
test/engine/engine_core_constraint_test.cc
+2 -2
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@@ -146,7 +146,7 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
ASSERT_GT(data->time, time) << "Divergence detected";
}
int nefc_site = data->nefc;
std::vector<mjtNum> dA = AsVector(data->efc_diagApprox, nefc_site);
std::vector<mjtNum> dA = AsVector(data->efc_diagA, nefc_site);
// reset
mj_resetData(model, data);
@@ -163,7 +163,7 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
// compare
EXPECT_EQ(nefc_site, data->nefc);
EXPECT_THAT(AsVector(data->efc_diagApprox, data->nefc),
EXPECT_THAT(AsVector(data->efc_diagA, data->nefc),
Pointwise(MjNear(1e-12, 1e-4), dA));
mj_deleteData(data);
test/user/user_flex_test.cc
+1 -1
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@@ -440,7 +440,7 @@ TEST_F(UserFlexTest, TrilinearInterpolation) {
EXPECT_EQ(d2->nefc, 4*(d2->contact[0].dim-1)*2);
EXPECT_EQ(d1->nJ, d2->nJ);
for (int i = 0; i < d1->nefc; ++i) {
EXPECT_EQ(d1->efc_diagApprox[i], d2->efc_diagApprox[i]);
EXPECT_EQ(d1->efc_diagA[i], d2->efc_diagA[i]);
EXPECT_EQ(d1->efc_D[i], d2->efc_D[i]);
}
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -5735,7 +5735,7 @@ public unsafe struct mjData_ {
public double* efc_pos;
public double* efc_margin;
public double* efc_frictionloss;
public double* efc_diagApprox;
public double* efc_diagA;
public double* efc_KBIP;
public double* efc_D;
public double* efc_R;
wasm/codegen/generated/bindings.cc
+3 -3
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@@ -6930,8 +6930,8 @@ struct MjData {
emscripten::val efc_frictionloss() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_frictionloss));
}
emscripten::val efc_diagApprox() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_diagApprox));
emscripten::val efc_diagA() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_diagA));
}
emscripten::val efc_KBIP() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc * 4, ptr_->efc_KBIP));
@@ -11635,7 +11635,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("efc_Y_rownnz", &MjData::efc_Y_rownnz)
.property("efc_aref", &MjData::efc_aref)
.property("efc_b", &MjData::efc_b)
.property("efc_diagApprox", &MjData::efc_diagApprox)
.property("efc_diagA", &MjData::efc_diagA)
.property("efc_force", &MjData::efc_force)
.property("efc_frictionloss", &MjData::efc_frictionloss)
.property("efc_id", &MjData::efc_id)
wasm/codegen/generators/constants.py
+1 -1
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@@ -320,7 +320,7 @@ MJDATA_SIZES: tuple[str, ...] = (
"efc_R",
"efc_aref",
"efc_b",
"efc_diagApprox",
"efc_diagA",
"efc_force",
"efc_frictionloss",
"efc_id",