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Migrate the MotrixSim write path onto batched native write programs:
every declarative write compiles into a single plan and execution is
one native_program.execute call.
- migrate the compiler onto the batched compile_write FFI plan and
upgrade motrixsim to 0.10.1.dev124285, whose WriteProgram.execute no
longer takes forward_kinematic: reset/FK behavior is baked into the
plan via SceneModel.compile_write(reset=, forward_kinematic=)
- split the fused MocapPoseWrite (N,B,7) contract into
MocapPositionWrite (N,B,3) + MocapRotationWrite (N,B,4), both compiled
to native BodyPosition/BodyRotation (bit-identical to mocap.set_pose);
_MultiTargetOp removed; four envs migrated
- JointPositionWrite/JointVelocityWrite compile to native
BodyJointPosition/BodyJointVelocity joint-name sources
- adopt the new ball joint sources from
core/motphys-articulated-body#2106 (MR !1755): add neutral
JointQuaternionWrite (xyzw, normalized on write) and
JointAngularVelocityWrite; migrate peg-insert off the multi-DoF
BodyJointPositionWrite("free_peg") fusion
- remove DofPositionWrite/DofVelocityWrite (zero users) and the legacy
Python pipeline they propped up: _DofChannelOp, _ResetPatchOp,
_DofComponentPatchOp, _execute_reset, and the masked_rows callback;
body-joint writes on multi-DoF bodies now fail loudly pointing at the
per-quantity writes; native plan reset also clears per-instance
overrides not covered by the plan
- _MotrixSimWriteProgram reduces to env_ids validation plus one native
execute
Full suite: 885 passed, 4 skipped.
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Superseded: this work was rebased onto the newer native write plan implementation; continuing in the new PR from perf/native-write-plan. |
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Closes #20
Summary
0.10.1.dev123565, whosecompile_writesupports compile-timeresetandforward_kinematicflagsWritePlan; each execute scatters in a single FFI call, applies the native reset first when compiled withreset=True, and refreshes kinematics at most onceBodyPosition/BodyRotationfields;buffer(name)synthesizes the neutral(N, B, 7)layout as one zero-copy slice, so consumers are unchangedset_dof_pos/set_dof_velsetters:SceneDataproperty projections are read-only copies, so in-place patches never reached the sim state_MultiTargetOp(unused after the migration) and the post-reset op branch (all remaining numpy ops fold into the reset state)Test plan
prek runclean on changed files