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haixuanTao
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Jul 14, 2026
emit_limit_constraint always emitted a kind=1 row and computed its O(ndofs) LU back-solve column, even when the joint sits strictly inside its bounds — where the row has zero positional bias AND both impulse clamps at 0, so it can never apply any impulse. Every PGS sweep then carried #joints dead rows per env per substep. Skip emission when !min_enabled && !max_enabled: the slot stays kind=0 (pre-zeroed by the discovery walk), which compute_joint_columns_par and both PGS sweeps already skip. Constraints are rebuilt from current coords each substep, so a joint reaching its bound re-emits next substep exactly as before. Result-identical (verified: bit-identical training stats on the zealot biped). Measured (zealot biped trainer, 5090): gpu_mb_init_solve_joint_with_bias was the #1 GPU kernel for a 25-joint humanoid (28% — O(joints) rows x O(ndofs) back-solve each, per substep); with the skip, full-body-G1 iteration throughput +16%, 12-DOF biped +5%. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016Dbpu5NhqXK2Xt3YzUbJRM
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