Factor constraint kbi computation into a reusable _contact_kbimp function - #1534
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Factor constraint kbi computation into a reusable _contact_kbimp function#1534etaoxing wants to merge 1 commit into
etaoxing wants to merge 1 commit into
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function - Pull the (k, b, impedance) computation out of _efc_row into a standalone _contact_kbimp warp func so it can be reused - Replace the wp.where selections with real branches, since warp differentiates both operands and the unselected branch produced NaN parameter adjoints even when the forward result was finite
etaoxing
marked this pull request as draft
July 19, 2026 20:02
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for #1535 |
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@etaoxing lets run the humanoid benchmark before and after the proposed changes to confirm that there are no performance regressions. thanks! |
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Extracts the (k, b, impedance) computation out of _efc_row into a standalone _contact_kbimp warp func so it can be reused, and swaps the wp.where selections for real branches to avoid the NaN parameter adjoints warp produced by differentiating the unselected operand.