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Remove legacy factorI/solveLD and clean up benchmarks/tests

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Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers.
Updates factorI, solveLD, and inertia benchmarks to remove legacy targets
and only benchmark CSR.
Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM
instead of legacy solver.

PiperOrigin-RevId: 942507341
Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f
This commit is contained in:
Yuval Tassa
2026-07-04 08:33:56 -07:00
committed by Copybara-Service
parent 10d6c01dce
commit 7c6f519879
6 changed files with 49 additions and 375 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_smooth.c
-175
View File
@@ -1876,69 +1876,6 @@ void mj_makeM(const mjModel* m, mjData* d) {
}
// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd
// (legacy implementation)
void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD,
mjtNum* qLDiagInv) {
int cnt;
int Madr_kk, Madr_ki;
mjtNum tmp;
// local copies of key variables
int* dof_Madr = m->dof_Madr;
int* dof_parentid = m->dof_parentid;
int nv = m->nv;
// copy M into LD
mju_copy(qLD, M, m->nM);
// dense backward loop over dofs (regular only, simple diagonal already copied)
for (int k=nv-1; k >= 0; k--) {
// get address of M(k,k)
Madr_kk = dof_Madr[k];
// check for small/negative numbers on diagonal
if (qLD[Madr_kk] < mjMINVAL) {
mj_warning(d, mjWARN_INERTIA, k);
qLD[Madr_kk] = mjMINVAL;
}
// skip the rest if simple
if (m->dof_simplenum[k]) {
continue;
}
// sparse backward loop over ancestors of k (excluding k)
Madr_ki = Madr_kk + 1;
int i = dof_parentid[k];
while (i >= 0) {
tmp = qLD[Madr_ki] / qLD[Madr_kk]; // tmp = M(k,i) / M(k,k)
// get number of ancestors of i (including i)
if (i < nv-1) {
cnt = dof_Madr[i+1] - dof_Madr[i];
} else {
cnt = m->nM - dof_Madr[i+1];
}
// M(i,j) -= M(k,j) * tmp
mju_addToScl(qLD+dof_Madr[i], qLD+Madr_ki, -tmp, cnt);
qLD[Madr_ki] = tmp; // M(k,i) = tmp
// advance to i's parent
i = dof_parentid[i];
Madr_ki++;
}
}
// compute 1/diag(D)
for (int i=0; i < nv; i++) {
qLDiagInv[i] = 1.0 / qLD[dof_Madr[i]];
}
}
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
@@ -1997,118 +1934,6 @@ void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
}
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// (legacy implementation)
void mj_solveLD_legacy(const mjModel* m, mjtNum* restrict x, int n,
const mjtNum* qLD, const mjtNum* qLDiagInv) {
// local copies of key variables
int* dof_Madr = m->dof_Madr;
int* dof_parentid = m->dof_parentid;
int nv = m->nv;
// single vector
if (n == 1) {
// x <- inv(L') * x; skip simple, exploit sparsity of input vector
for (int i=nv-1; i >= 0; i--) {
if (!m->dof_simplenum[i] && x[i]) {
// init
int Madr_ij = dof_Madr[i]+1;
int j = dof_parentid[i];
// traverse ancestors backwards
// read directly from x[i] since i cannot be a parent of itself
while (j >= 0) {
x[j] -= qLD[Madr_ij++]*x[i]; // x(j) -= L(i,j) * x(i)
// advance to parent
j = dof_parentid[j];
}
}
}
// x <- inv(D) * x
for (int i=0; i < nv; i++) {
x[i] *= qLDiagInv[i]; // x(i) /= L(i,i)
}
// x <- inv(L) * x; skip simple
for (int i=0; i < nv; i++) {
if (!m->dof_simplenum[i]) {
// init
int Madr_ij = dof_Madr[i]+1;
int j = dof_parentid[i];
// traverse ancestors backwards
// write directly in x[i] since i cannot be a parent of itself
while (j >= 0) {
x[i] -= qLD[Madr_ij++]*x[j]; // x(i) -= L(i,j) * x(j)
// advance to parent
j = dof_parentid[j];
}
}
}
}
// multiple vectors
else {
int offset;
mjtNum tmp;
// x <- inv(L') * x; skip simple
for (int i=nv-1; i >= 0; i--) {
if (!m->dof_simplenum[i]) {
// init
int Madr_ij = dof_Madr[i]+1;
int j = dof_parentid[i];
// traverse ancestors backwards
while (j >= 0) {
// process all vectors, exploit sparsity
for (offset=0; offset < n*nv; offset+=nv)
if ((tmp = x[i+offset])) {
x[j+offset] -= qLD[Madr_ij]*tmp; // x(j) -= L(i,j) * x(i)
}
// advance to parent
Madr_ij++;
j = dof_parentid[j];
}
}
}
// x <- inv(D) * x
for (int i=0; i < nv; i++) {
for (offset=0; offset < n*nv; offset+=nv) {
x[i+offset] *= qLDiagInv[i]; // x(i) /= L(i,i)
}
}
// x <- inv(L) * x; skip simple
for (int i=0; i < nv; i++) {
if (!m->dof_simplenum[i]) {
// init
int Madr_ij = dof_Madr[i]+1;
int j = dof_parentid[i];
// traverse ancestors backwards
tmp = x[i+offset];
while (j >= 0) {
// process all vectors
for (offset=0; offset < n*nv; offset+=nv) {
x[i+offset] -= qLD[Madr_ij]*x[j+offset]; // x(i) -= L(i,j) * x(j)
}
// advance to parent
Madr_ij++;
j = dof_parentid[j];
}
}
}
}
}
// in-place sparse backsubstitution: x = inv(L'*D*L)*x (with dof skipping)
void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* colind, const int* index) {
src/engine/engine_core_smooth.h
-8
View File
@@ -64,10 +64,6 @@ MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
// make inertia matrix
MJAPI void mj_makeM(const mjModel* m, mjData* d);
// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (legacy implementation)
MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
mjtNum* qLD, mjtNum* qLDiagInv);
// sparse L'*D*L factorizaton of inertia-like matrix (only dofs in index, if given)
MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
const int* rownnz, const int* rowadr, const int* colind, const int* index);
@@ -75,10 +71,6 @@ MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
MJAPI void mj_factorM(const mjModel* m, mjData* d);
// sparse backsubstitution: x = inv(L'*D*L)*x (legacy implementation)
MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
const mjtNum* qLD, const mjtNum* qLDiagInv);
// in-place sparse backsubstitution (only dofs in index, if given): x = inv(L'*D*L)*x
// handle n vectors at once
MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
test/benchmark/factorI_benchmark_test.cc
+7 -28
View File
@@ -30,7 +30,7 @@ static const int kNumBenchmarkSteps = 50;
// ----------------------------- benchmark ------------------------------------
static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
static void BM_factorI(benchmark::State& state, bool coil) {
static mjModel* m;
if (coil) {
m = LoadModelFromPath("plugin/elasticity/coil.xml");
@@ -46,21 +46,14 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
// M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC);
mju_gather(M, d->qM, m->mapM2M, m->nC);
// LDlegacy: legacy LD matrix (size nM)
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_copy(M, d->M, m->nC);
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
if (legacy) {
mj_factorI_legacy(m, d, d->qM, LDlegacy, d->qLDiagInv);
} else {
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
}
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
}
}
@@ -71,31 +64,17 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
state.SetItemsProcessed(state.iterations());
}
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_COIL_LEGACY(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/true, /*coil=*/true);
}
BENCHMARK(BM_factorI_COIL_LEGACY);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_COIL_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/false, /*coil=*/true);
BM_factorI(state, /*coil=*/true);
}
BENCHMARK(BM_factorI_COIL_CSR);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_H100_LEGACY(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/true, /*coil=*/false);
}
BENCHMARK(BM_factorI_H100_LEGACY);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_H100_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/false, /*coil=*/false);
BM_factorI(state, /*coil=*/false);
}
BENCHMARK(BM_factorI_H100_CSR);
test/benchmark/inertia_benchmark_test.cc
+8 -30
View File
@@ -31,12 +31,7 @@ static const int kNumBenchmarkSteps = 50;
// ----------------------------- benchmark ------------------------------------
enum class SolveType {
kLegacy = 0,
kCsr,
};
static void BM_solve(benchmark::State& state, SolveType type) {
static void BM_solve(benchmark::State& state) {
static mjModel* m;
m = LoadModelFromPath("../test/benchmark/testdata/inertia.xml");
@@ -48,10 +43,7 @@ static void BM_solve(benchmark::State& state, SolveType type) {
// M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC);
mju_gather(M, d->qM, m->mapM2M, m->nC);
// LDlegacy: legacy LD matrix (size nM)
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_copy(M, d->M, m->nC);
// arbitrary input vector
mjtNum *res = mj_stackAllocNum(d, m->nv);
@@ -64,19 +56,11 @@ static void BM_solve(benchmark::State& state, SolveType type) {
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
mju_copy(res, vec, m->nv);
switch (type) {
case SolveType::kLegacy:
mj_factorI_legacy(m, d, d->qM, LDlegacy, d->qLDiagInv);
mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
mj_solveM(m, d, res, vec, 1);
break;
case SolveType::kCsr:
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
}
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
}
}
@@ -87,15 +71,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
state.SetItemsProcessed(state.iterations());
}
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solve_LEGACY(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_solve(state, SolveType::kLegacy);
}
BENCHMARK(BM_solve_LEGACY);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solve_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_solve(state, SolveType::kCsr);
BM_solve(state);
}
BENCHMARK(BM_solve_CSR);
test/benchmark/solveLD_benchmark_test.cc
+5 -26
View File
@@ -30,7 +30,7 @@ static const int kNumBenchmarkSteps = 50;
// ----------------------------- benchmark ------------------------------------
static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
static void BM_solveLD(benchmark::State& state, bool coil) {
static mjModel* m;
if (coil) {
m = LoadModelFromPath("plugin/elasticity/coil.xml");
@@ -51,21 +51,12 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
vec[i] = 0.2 + 0.3*i;
}
// scatter into legacy matrix
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_zero(LDlegacy, m->nM);
mju_scatter(LDlegacy, d->qLD, m->mapM2M, m->nC);
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
mju_copy(res, vec, m->nv);
if (featherstone) {
mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
} else {
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
}
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
}
}
@@ -76,27 +67,15 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
state.SetItemsProcessed(state.iterations());
}
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solveLD_COIL_FS(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_solveLD(state, /*featherstone=*/true, /*coil=*/true);
}
BENCHMARK(BM_solveLD_COIL_FS);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solveLD_COIL_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_solveLD(state, /*featherstone=*/false, /*coil=*/true);
BM_solveLD(state, /*coil=*/true);
}
BENCHMARK(BM_solveLD_COIL_CSR);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solveLD_H100_FS(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_solveLD(state, /*featherstone=*/true, /*coil=*/false);
}
BENCHMARK(BM_solveLD_H100_FS);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solveLD_H100_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_solveLD(state, /*featherstone=*/false, /*coil=*/false);
BM_solveLD(state, /*coil=*/false);
}
BENCHMARK(BM_solveLD_H100_CSR);
test/engine/engine_core_smooth_test.cc
+29 -108
View File
@@ -663,22 +663,7 @@ TEST_F(CoreSmoothTest, FactorI) {
mj_deleteModel(model);
}
// Convert legacy-format symmetric matrix to dense (local helper for tests).
static void legacyToDense(const mjModel* m, mjtNum* dst, const mjtNum* M) {
int adr = 0, nv = m->nv;
mju_zero(dst, nv * nv);
for (int i = 0; i < nv; i++) {
int j = i;
while (j >= 0) {
dst[i * nv + j] = M[adr];
dst[j * nv + i] = M[adr];
j = m->dof_parentid[j];
adr++;
}
}
}
TEST_F(CoreSmoothTest, SolveLDs) {
TEST_F(CoreSmoothTest, SolveLD) {
const std::string xml_path = GetTestDataFilePath(kInertiaPath);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
@@ -688,41 +673,24 @@ TEST_F(CoreSmoothTest, SolveLDs) {
mj_forward(m, d);
int nv = m->nv;
int nM = m->nM;
int nC = m->nC;
// copy M into LD: Legacy format
vector<mjtNum> LDlegacy(nM, 0);
mju_scatter(LDlegacy.data(), d->qLD, m->mapM2M, nC);
// arbitrary RHS vector y
vector<mjtNum> y(nv);
for (int i = 0; i < nv; i++) y[i] = 20 + 30 * i;
for (int i = 0; i < nv; i += 2) y[i] = 0;
// compare LD and LDs densified matrices
vector<mjtNum> LDdense(nv * nv);
mju_sparse2dense(LDdense.data(), d->qLD, nv, nv, m->M_rownnz, m->M_rowadr,
m->M_colind);
vector<mjtNum> LDdense2(nv * nv);
legacyToDense(m, LDdense2.data(), LDlegacy.data());
// expect lower triangles to match exactly
for (int i = 0; i < nv; i++) {
for (int j = 0; j < i; j++) {
EXPECT_NEAR(LDdense[i * nv + j], LDdense2[i * nv + j],
MjTol(1e-14, 1e-6));
}
}
// compare legacy and CSR LD vector solve
vector<mjtNum> vec(nv);
vector<mjtNum> vec2(nv);
for (int i = 0; i < nv; i++) vec[i] = vec2[i] = 20 + 30 * i;
for (int i = 0; i < nv; i += 2) vec[i] = vec2[i] = 0;
mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1, m->M_rownnz, m->M_rowadr,
// x = inv(M) * y
vector<mjtNum> x = y;
mj_solveLD(x.data(), d->qLD, d->qLDiagInv, nv, 1, m->M_rownnz, m->M_rowadr,
m->M_colind, nullptr);
// expect vectors to match up to floating point precision
// z = M * x
vector<mjtNum> z(nv);
mj_mulM(m, d, z.data(), x.data());
// expect z to match y
for (int i = 0; i < nv; i++) {
EXPECT_NEAR(vec[i], vec2[i], MjTol(1e-14, 5e-6));
EXPECT_NEAR(z[i], y[i], MjTol(1e-12, 5e-4));
}
mj_deleteData(d);
@@ -739,25 +707,25 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_forward(m, d);
int nv = m->nv;
// copy LD into LDlegacy: Legacy format
vector<mjtNum> LDlegacy(m->nM, 0);
mju_scatter(LDlegacy.data(), d->qLD, m->mapM2M, m->nC);
// compare n LD and LDs vector solve
int n = 3;
vector<mjtNum> vec(nv * n);
vector<mjtNum> vec2(nv * n);
for (int i = 0; i < nv * n; i++) vec[i] = vec2[i] = 2 + 3 * i;
for (int i = 0; i < nv * n; i += 3) vec[i] = vec2[i] = 0;
mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n, m->M_rownnz, m->M_rowadr,
// Y: arbitrary RHS vectors (nv x n)
vector<mjtNum> Y(nv * n);
for (int i = 0; i < nv * n; i++) Y[i] = 2 + 3 * i;
for (int i = 0; i < nv * n; i += 3) Y[i] = 0;
// X = inv(M) * Y
vector<mjtNum> X = Y;
mj_solveLD(X.data(), d->qLD, d->qLDiagInv, nv, n, m->M_rownnz, m->M_rowadr,
m->M_colind, nullptr);
// expect vectors to match up to floating point precision
for (int i = 0; i < nv * n; i++) {
EXPECT_NEAR(vec[i], vec2[i], MjTol(1e-14, 5e-6));
// verify each vector: Z_i = M * X_i
for (int i = 0; i < n; i++) {
vector<mjtNum> z(nv);
mj_mulM(m, d, z.data(), X.data() + i * nv);
for (int j = 0; j < nv; j++) {
EXPECT_NEAR(z[j], Y[i * nv + j], MjTol(1e-12, 5e-4));
}
}
mj_deleteData(d);
@@ -804,54 +772,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
mj_deleteModel(m);
}
TEST_F(CoreSmoothTest, FactorIs) {
const std::string xml_path = GetTestDataFilePath(kInertiaPath);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
mjData* d = mj_makeData(m);
mj_forward(m, d);
int nC = m->nC, nM = m->nM, nv = m->nv;
// copy qM into into qLDlegacy and factorize
vector<mjtNum> qLDlegacy(nM);
mj_factorI_legacy(m, d, d->qM, qLDlegacy.data(), d->qLDiagInv);
// copy qLDlegacy into qLDexpected: CSR format
vector<mjtNum> qLDexpected(nC);
mju_gather(qLDexpected.data(), qLDlegacy.data(), m->mapM2M, nC);
// copy qM into qLD: CSR format
vector<mjtNum> qLD(nC);
mju_gather(qLD.data(), d->qM, m->mapM2M, nC);
vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
vector<mjtNum> qLDiagInv(nv, 0);
mj_factorI(qLD.data(), qLDiagInv.data(), nv, m->M_rownnz, m->M_rowadr,
m->M_colind, nullptr);
// expect outputs to match to floating point precision
EXPECT_THAT(qLD, Pointwise(MjNear(1e-12, 1e-4), qLDexpected));
EXPECT_THAT(qLDiagInv, Pointwise(MjNear(1e-12, 1e-4), qLDiagInvExpected));
/* uncomment for debugging
vector<mjtNum> LDdense(nv*nv);
mju_sparse2dense(LDdense.data(), qLDexpected.data(), nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind);
PrintMatrix(LDdense.data(), nv, nv, 2);
mju_sparse2dense(LDdense.data(), qLDs.data(), nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind);
PrintMatrix(LDdense.data(), nv, nv, 2);
*/
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(CoreSmoothTest, FlexVertLengthScaling) {
constexpr char xml[] = R"(