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mujoco / data /test /benchmark /thread_performance_test.cc
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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <array>
#include <vector>
#include <benchmark/benchmark.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
// number of steps to roll out before benchmarking
static const int kNumWarmupSteps = 500;
void BM_StepHumanoid200(benchmark::State& state) {
auto model_path = GetTestDataFilePath("benchmark/testdata/humanoid200.xml");
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.enableflags |= mjENBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data, threadpool);
// warm-up rollout to get a steady state
for (int i = 0; i < kNumWarmupSteps; i++) {
mj_step(model, data);
}
// save the initial state and step
int spec = mjSTATE_INTEGRATION;
int size = mj_stateSize(model, spec);
std::vector<mjtNum> initial_state(size);
mj_getState(model, data, initial_state.data(), spec);
// note: this tests resetting and stepping
for (int i = 0; i < 10; ++i) {
// reset to the saved state, step again, get the resulting state
mj_setState(model, data, initial_state.data(), spec);
for (int i = 0; i < kNumWarmupSteps; i++) {
mj_step(model, data);
}
}
state.SetItemsProcessed(state.iterations());
mj_deleteData(data);
mju_threadPoolDestroy(threadpool);
}
void BM_Step22Humanoids(benchmark::State& state) {
auto model_path = GetTestDataFilePath("benchmark/testdata/22_humanoids.xml");
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.enableflags |= mjENBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = mju_threadPoolCreate(10);
mju_bindThreadPool(data, threadpool);
// warm-up rollout to get a steady state
for (int i = 0; i < kNumWarmupSteps; i++) {
mj_step(model, data);
}
// save the initial state and step
int spec = mjSTATE_INTEGRATION;
int size = mj_stateSize(model, spec);
std::vector<mjtNum> initial_state(size);
mj_getState(model, data, initial_state.data(), spec);
std::vector<mjtNum> ctrl = GetCtrlNoise(model, kNumWarmupSteps);
// note: this tests resetting and stepping
for (int i = 0; i < 10; ++i) {
// reset to the saved state, step again, get the resulting state
mj_setState(model, data, initial_state.data(), spec);
for (int i = 0; i < kNumWarmupSteps; i++) {
mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
mj_step(model, data);
}
}
state.SetItemsProcessed(state.iterations());
mj_deleteData(data);
mju_threadPoolDestroy(threadpool);
}
BENCHMARK(BM_StepHumanoid200);
BENCHMARK(BM_Step22Humanoids);
} // namespace
} // namespace mujoco