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Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.

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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
This commit is contained in:
Yuval Tassa
2024-10-14 09:06:14 -07:00
committed by Copybara-Service
parent 7ec94f46d4
commit ee7b994021
10 changed files with 4 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
-8
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@@ -170,7 +170,6 @@ struct mjData_ {
int nl; // number of limit constraints int nl; // number of limit constraints
int nefc; // number of constraints int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian int nnzJ; // number of non-zeros in constraint Jacobian
int nnzL; // number of non-zeros in Newton Cholesky factor
int nisland; // number of detected constraint islands int nisland; // number of detected constraint islands
// global properties // global properties
@@ -392,13 +391,6 @@ struct mjData_ {
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc) int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc) mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
// computed by mj_fwdConstraint (Newton solver)
int* L_rownnz; // number of non-zeros in Hessian factor L rows (nv x 1)
int* L_rowadr; // row start address in colind array (nv x 1)
int* L_colind; // column indices in sparse AR (nnzL x 1)
mjtNum* L; // chol(M + J'*diag(efc_D)*J) (nnzL x 1)
mjtNum* Lcone; // L with cone contributions (nnzL x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent //-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint // computed by mj_fwdVelocity/mj_referenceConstraint
include/mujoco/mjdata.h
-8
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@@ -198,7 +198,6 @@ struct mjData_ {
int nl; // number of limit constraints int nl; // number of limit constraints
int nefc; // number of constraints int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian int nnzJ; // number of non-zeros in constraint Jacobian
int nnzL; // number of non-zeros in Newton Cholesky factor
int nisland; // number of detected constraint islands int nisland; // number of detected constraint islands
// global properties // global properties
@@ -420,13 +419,6 @@ struct mjData_ {
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc) int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc) mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
// computed by mj_fwdConstraint (Newton solver)
int* L_rownnz; // number of non-zeros in Hessian factor L rows (nv x 1)
int* L_rowadr; // row start address in colind array (nv x 1)
int* L_colind; // column indices in sparse AR (nnzL x 1)
mjtNum* L; // chol(M + J'*diag(efc_D)*J) (nnzL x 1)
mjtNum* Lcone; // L with cone contributions (nnzL x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent //-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint // computed by mj_fwdVelocity/mj_referenceConstraint
include/mujoco/mjxmacro.h
-10
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@@ -707,14 +707,6 @@
X( mjtNum, efc_force, MJ_D(nefc), 1 ) \ X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
X( int, efc_state, MJ_D(nefc), 1 ) X( int, efc_state, MJ_D(nefc), 1 )
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_NEWTON \
X( int, L_rownnz, MJ_M(nv), 1 ) \
X( int, L_rowadr, MJ_M(nv), 1 ) \
X( int, L_colind, MJ_D(nnzL), 1 ) \
X( mjtNum, L, MJ_D(nnzL), 1 ) \
X( mjtNum, Lcone, MJ_D(nnzL), 1 )
// array fields of mjData that are used in the dual problem // array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \ #define MJDATA_ARENA_POINTERS_DUAL \
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \ X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
@@ -738,7 +730,6 @@
#define MJDATA_ARENA_POINTERS \ #define MJDATA_ARENA_POINTERS \
MJDATA_ARENA_POINTERS_CONTACT \ MJDATA_ARENA_POINTERS_CONTACT \
MJDATA_ARENA_POINTERS_SOLVER \ MJDATA_ARENA_POINTERS_SOLVER \
MJDATA_ARENA_POINTERS_NEWTON \
MJDATA_ARENA_POINTERS_DUAL \ MJDATA_ARENA_POINTERS_DUAL \
MJDATA_ARENA_POINTERS_ISLAND MJDATA_ARENA_POINTERS_ISLAND
@@ -762,7 +753,6 @@
X( int, nl ) \ X( int, nl ) \
X( int, nefc ) \ X( int, nefc ) \
X( int, nnzJ ) \ X( int, nnzJ ) \
X( int, nnzL ) \
X( int, nisland ) \ X( int, nisland ) \
X( mjtNum, time ) \ X( mjtNum, time ) \
X( uintptr_t, threadpool ) X( uintptr_t, threadpool )
introspect/structs.py
-40
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@@ -4326,11 +4326,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='number of non-zeros in constraint Jacobian', doc='number of non-zeros in constraint Jacobian',
), ),
StructFieldDecl(
name='nnzL',
type=ValueType(name='int'),
doc='number of non-zeros in Newton Cholesky factor',
),
StructFieldDecl( StructFieldDecl(
name='nisland', name='nisland',
type=ValueType(name='int'), type=ValueType(name='int'),
@@ -5287,41 +5282,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc="J*inv(M)*J' + R (nefc x nefc)", # pylint: disable=line-too-long doc="J*inv(M)*J' + R (nefc x nefc)", # pylint: disable=line-too-long
), ),
StructFieldDecl(
name='L_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Hessian factor L rows (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='L_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='L_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse AR (nnzL x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='L',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="chol(M + J'*diag(efc_D)*J) (nnzL x 1)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='Lcone',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='L with cone contributions (nnzL x 1)', # pylint: disable=line-too-long
),
StructFieldDecl( StructFieldDecl(
name='efc_vel', name='efc_vel',
type=PointerType( type=PointerType(
python/mujoco/bindings_test.py
+3 -3
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@@ -1362,7 +1362,7 @@ Euler integrator, semi-implicit in velocity.
def test_pickle_mjdata_clean(self): def test_pickle_mjdata_clean(self):
data2 = pickle.loads(pickle.dumps(self.data)) data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = ('time', 'qpos', 'qvel', 'mocap_pos', 'L') attr_to_compare = ('time', 'qpos', 'qvel', 'mocap_pos')
self._assert_attributes_equal(data2, self.data, attr_to_compare) self._assert_attributes_equal(data2, self.data, attr_to_compare)
def test_pickle_mjdata(self): def test_pickle_mjdata(self):
@@ -1370,7 +1370,7 @@ Euler integrator, semi-implicit in velocity.
data2 = pickle.loads(pickle.dumps(self.data)) data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = ( attr_to_compare = (
'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos', 'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos',
'warning', 'energy', 'contact', 'efc_J', 'L' 'warning', 'energy', 'contact', 'efc_J'
) )
self._assert_attributes_equal(data2, self.data, attr_to_compare) self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10): for _ in range(10):
@@ -1384,7 +1384,7 @@ Euler integrator, semi-implicit in velocity.
data2 = pickle.loads(pickle.dumps(self.data)) data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = ( attr_to_compare = (
'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos', 'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos',
'warning', 'energy', 'contact', 'efc_J', 'L' 'warning', 'energy', 'contact', 'efc_J'
) )
self._assert_attributes_equal(data2, self.data, attr_to_compare) self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10): for _ in range(10):
python/mujoco/structs.cc
-14
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@@ -748,7 +748,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
X(ne); X(ne);
X(nf); X(nf);
X(nnzJ); X(nnzJ);
X(nnzL);
X(nefc); X(nefc);
X(nisland); X(nisland);
X(time); X(time);
@@ -764,9 +763,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
MJDATA_POINTERS MJDATA_POINTERS
#undef X #undef X
bool is_sparse_newton = this->model_->get()->opt.solver == mjSOL_NEWTON &&
mj_isSparse(this->model_->get());
#undef MJ_M #undef MJ_M
#define MJ_M(x) this->model_->get()->x #define MJ_M(x) this->model_->get()->x
#undef MJ_D #undef MJ_D
@@ -779,9 +775,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
MJDATA_ARENA_POINTERS_CONTACT MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_SOLVER MJDATA_ARENA_POINTERS_SOLVER
if (is_sparse_newton) {
MJDATA_ARENA_POINTERS_NEWTON
}
if (mj_isDual(this->model_->get())) { if (mj_isDual(this->model_->get())) {
MJDATA_ARENA_POINTERS_DUAL MJDATA_ARENA_POINTERS_DUAL
} }
@@ -811,8 +804,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
bool is_dual = mj_isDual(&m); bool is_dual = mj_isDual(&m);
bool is_sparse_newton = m.opt.solver == mjSOL_NEWTON && mj_isSparse(&m);
raw::MjData* d = mj_makeData(&m); raw::MjData* d = mj_makeData(&m);
if (!d) { if (!d) {
throw py::value_error("Failed to create mjData."); throw py::value_error("Failed to create mjData.");
@@ -834,7 +825,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
X(ne); X(ne);
X(nf); X(nf);
X(nnzJ); X(nnzJ);
X(nnzL);
X(nefc); X(nefc);
X(nisland); X(nisland);
X(time); X(time);
@@ -873,9 +863,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
MJDATA_ARENA_POINTERS_CONTACT MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_SOLVER MJDATA_ARENA_POINTERS_SOLVER
if (is_sparse_newton) {
MJDATA_ARENA_POINTERS_NEWTON
}
if (is_dual) { if (is_dual) {
MJDATA_ARENA_POINTERS_DUAL MJDATA_ARENA_POINTERS_DUAL
} }
@@ -2035,7 +2022,6 @@ This is useful for example when the MJB is not available as a file on disk.)"));
}); });
MJDATA_ARENA_POINTERS_SOLVER MJDATA_ARENA_POINTERS_SOLVER
MJDATA_ARENA_POINTERS_NEWTON
MJDATA_ARENA_POINTERS_DUAL MJDATA_ARENA_POINTERS_DUAL
MJDATA_ARENA_POINTERS_ISLAND MJDATA_ARENA_POINTERS_ISLAND
src/engine/engine_core_constraint.c
+1 -1
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@@ -1917,7 +1917,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
// driver: call all functions above // driver: call all functions above
void mj_makeConstraint(const mjModel* m, mjData* d) { void mj_makeConstraint(const mjModel* m, mjData* d) {
// clear sizes // clear sizes
d->ne = d->nf = d->nl = d->nefc = d->nnzJ = d->nnzL = 0; d->ne = d->nf = d->nl = d->nefc = d->nnzJ = 0;
// disabled or Jacobian not allocated: return // disabled or Jacobian not allocated: return
if (mjDISABLED(mjDSBL_CONSTRAINT)) { if (mjDISABLED(mjDSBL_CONSTRAINT)) {
src/engine/engine_io.c
-1
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@@ -1802,7 +1802,6 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->nl = 0; d->nl = 0;
d->nefc = 0; d->nefc = 0;
d->nnzJ = 0; d->nnzJ = 0;
d->nnzL = 0;
d->nisland = 0; d->nisland = 0;
// clear global properties // clear global properties
src/engine/engine_print.c
-7
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@@ -1180,13 +1180,6 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz, printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz,
d->efc_J_rowadr, d->efc_J_colind, fp, float_format); d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
if (d->nnzL) {
// L sparse structure
printSparsity("L: Newton reverse Cholesky factor", m->nv, m->nv,
d->L_rowadr, d->L_rownnz, d->L_colind, fp);
printSparse("L", d->L, m->nv, d->L_rownnz, d->L_rowadr, d->L_colind, fp, float_format);
}
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp); printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp); printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz, printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,
unity/Runtime/Bindings/MjBindings.cs
-6
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@@ -4847,7 +4847,6 @@ public unsafe struct mjData_ {
public int nl; public int nl;
public int nefc; public int nefc;
public int nnzJ; public int nnzJ;
public int nnzL;
public int nisland; public int nisland;
public double time; public double time;
public fixed double energy[2]; public fixed double energy[2];
@@ -4985,11 +4984,6 @@ public unsafe struct mjData_ {
public int* efc_AR_rowadr; public int* efc_AR_rowadr;
public int* efc_AR_colind; public int* efc_AR_colind;
public double* efc_AR; public double* efc_AR;
public int* L_rownnz;
public int* L_rowadr;
public int* L_colind;
public double* L;
public double* Lcone;
public double* efc_vel; public double* efc_vel;
public double* efc_aref; public double* efc_aref;
public double* efc_b; public double* efc_b;