Rejigged solver statistics in preparation for islanding.
- See public description below. - Stopped incrementing the iteration count in saveStats(). - `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB. BEGIN_PUBLIC Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used. - The new constant `mjNISLAND` is set to 20. - `mjNSOLVER` is reduced from 1000 to 200. - Added `mjData.solver_nisland`, the number of islands for which the solver ran. - `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`. END_PUBLIC PiperOrigin-RevId: 565030093 Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8faf47dd16
commit
86d8b912f4
@@ -450,9 +450,15 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
|
||||
- The maximal number of real-valued parameters used to define the impedance of each scalar constraint.
|
||||
Determines the size of all ``mjModel.XXX_solimp`` fields.
|
||||
* - ``mjNSOLVER``
|
||||
- 1000
|
||||
- The size of the preallocated array ``mjData.solver``. This is used to store diagnostic information about each
|
||||
iteration of the constraint solver. The actual number of iterations is given by ``mjData.solver_iter``.
|
||||
- 200
|
||||
- The number of iterations where solver statistics can be stored in ``mjData.solver``. This array is used
|
||||
to store diagnostic information about each iteration of the constraint solver.
|
||||
The actual number of iterations is given by ``mjData.solver_iter``.
|
||||
* - ``mjNISLAND``
|
||||
- 20
|
||||
- The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
|
||||
used to store diagnostic information about each iteration of the constraint solver.
|
||||
The actual number of islands for which the solver was run is given by ``mjData.nsolver_island``.
|
||||
* - ``mjNGROUP``
|
||||
- 6
|
||||
- The number of geom, site, joint, tendon and actuator groups whose rendering can be enabled and disabled via
|
||||
|
||||
+23
-12
@@ -51,34 +51,45 @@ General
|
||||
6. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
|
||||
and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
|
||||
|
||||
7. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
|
||||
7. Changed :ref:`mjData.solver<mjData>`, the array used to collect solver diagnostic information.
|
||||
This array of :ref:`mjSolverStat` structs is now of length ``mjNISLAND * mjNSOLVER``, interpreted as as a matrix.
|
||||
Each row of length ``mjNSOLVER`` contains separate solver statistics for each constraint island.
|
||||
If the solver does not use islands, only row 0 is filled.
|
||||
|
||||
- The new constant :ref:`mjNISLAND<glNumeric>` was set to 20.
|
||||
- :ref:`mjNSOLVER<glNumeric>` was reduced from 1000 to 200.
|
||||
- Added :ref:`mjData.solver_nisland<mjData>`: the number of islands for which the solver ran.
|
||||
- Renamed ``mjData.solver_iter`` to ``solver_niter``. Both this member and ``mjData.solver_nnz`` are now integer
|
||||
vectors of length ``mjNISLAND``.
|
||||
|
||||
8. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
|
||||
the exact formula rather than with Euler integration.
|
||||
8. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
|
||||
9. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
|
||||
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
|
||||
9. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
|
||||
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
|
||||
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
|
||||
10. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
|
||||
10. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
|
||||
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
|
||||
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
|
||||
11. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
|
||||
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
|
||||
11. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
|
||||
12. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
|
||||
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
|
||||
12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
|
||||
13. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
|
||||
linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
|
||||
13. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store normalizing transformation.
|
||||
14. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
|
||||
14. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store normalizing transformation.
|
||||
15. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
|
||||
sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
|
||||
target site, projected onto the camera image, in pixel coordinates.
|
||||
|
||||
Python bindings
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
15. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
|
||||
16. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
|
||||
camera name used the default camera.
|
||||
|
||||
Bug fixes
|
||||
^^^^^^^^^
|
||||
|
||||
16. Fixed a bug that was causing the geom margins to be ignored during the midphase.
|
||||
17. Fixed a bug that was causing the geom margins to be ignored during the midphase.
|
||||
|
||||
|
||||
Version 2.3.7 (July 20, 2023)
|
||||
|
||||
@@ -146,9 +146,10 @@ struct mjData_ {
|
||||
mjTimerStat timer[mjNTIMER]; // timer statistics
|
||||
|
||||
// solver statistics
|
||||
mjSolverStat solver[mjNSOLVER]; // solver statistics per iteration
|
||||
int solver_iter; // number of solver iterations
|
||||
int solver_nnz; // number of non-zeros in Hessian or efc_AR
|
||||
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
|
||||
int solver_nisland; // number of islands processed by solver
|
||||
int solver_niter[mjNISLAND]; // number of solver iterations, per island
|
||||
int solver_nnz[mjNISLAND]; // number of non-zeros in Hessian or efc_AR, per island
|
||||
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
|
||||
|
||||
// collision statistics
|
||||
|
||||
Reference in New Issue
Block a user