Rename toolbox to platform.
PiperOrigin-RevId: 838701951 Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
This commit is contained in:
Haroon Qureshi
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Copybara-Service
Copybara-Service
parent
c6b587b515
commit
139a5b6494
@@ -0,0 +1,167 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "experimental/platform/sim_profiler.h"
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#include <mujoco/mujoco.h>
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#include <imgui.h>
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#include <implot.h>
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namespace mujoco::platform {
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SimProfiler::SimProfiler() {
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Clear();
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}
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void SimProfiler::Clear() {
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constexpr int kProfilerMaxFrames = 200;
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cpu_total_.clear();
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cpu_collision_.clear();
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cpu_prepare_.clear();
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cpu_solve_.clear();
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cpu_other_.clear();
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dim_dof_.clear();
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dim_body_.clear();
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dim_constraint_.clear();
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dim_sqrt_nnz_.clear();
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dim_contact_.clear();
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dim_iteration_.clear();
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cpu_total_.resize(kProfilerMaxFrames, 0);
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cpu_collision_.resize(kProfilerMaxFrames, 0);
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cpu_prepare_.resize(kProfilerMaxFrames, 0);
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cpu_solve_.resize(kProfilerMaxFrames, 0);
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cpu_other_.resize(kProfilerMaxFrames, 0);
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dim_dof_.resize(kProfilerMaxFrames, 0);
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dim_body_.resize(kProfilerMaxFrames, 0);
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dim_constraint_.resize(kProfilerMaxFrames, 0);
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dim_sqrt_nnz_.resize(kProfilerMaxFrames, 0);
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dim_contact_.resize(kProfilerMaxFrames, 0);
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dim_iteration_.resize(kProfilerMaxFrames, 0);
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}
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void SimProfiler::Update(const mjModel* model, const mjData* data) {
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// CPU timers.
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mjtNum total = data->timer[mjTIMER_STEP].duration;
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mjtNum number = static_cast<mjtNum>(data->timer[mjTIMER_STEP].number);
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if (number == 0.0) {
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total = data->timer[mjTIMER_FORWARD].duration;
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number = static_cast<mjtNum>(data->timer[mjTIMER_FORWARD].number);
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}
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if (number == 0.0) {
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// This can happen if the simulation is paused.
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return;
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}
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cpu_total_.erase(cpu_total_.begin());
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cpu_total_.push_back(total / number);
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mjtNum collision = data->timer[mjTIMER_POS_COLLISION].duration / number;
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cpu_collision_.erase(cpu_collision_.begin());
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cpu_collision_.push_back(collision);
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mjtNum prepare = (data->timer[mjTIMER_POS_MAKE].duration / number) +
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(data->timer[mjTIMER_POS_PROJECT].duration / number);
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cpu_prepare_.erase(cpu_prepare_.begin());
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cpu_prepare_.push_back(prepare);
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mjtNum solve = data->timer[mjTIMER_CONSTRAINT].duration / number;
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cpu_solve_.erase(cpu_solve_.begin());
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cpu_solve_.push_back(solve);
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mjtNum other = total - collision - prepare - solve;
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cpu_other_.erase(cpu_other_.begin());
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cpu_other_.push_back(other);
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// Solver diagnostics.
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mjtNum sqrt_nnz = 0;
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int solver_niter = 0;
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const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
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for (int island=0; island < nisland; island++) {
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sqrt_nnz += data->solver_nnz[island];
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solver_niter += data->solver_niter[island];
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}
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sqrt_nnz = mju_sqrt(sqrt_nnz);
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dim_dof_.erase(dim_dof_.begin());
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int nv = (model->opt.enableflags & mjENBL_SLEEP) ? data->nv_awake
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: model->nv;
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dim_dof_.push_back(nv);
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dim_body_.erase(dim_body_.begin());
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int nbody = (model->opt.enableflags & mjENBL_SLEEP) ? data->nbody_awake
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: model->nbody;
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dim_body_.push_back(nbody);
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dim_constraint_.erase(dim_constraint_.begin());
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dim_constraint_.push_back(data->nefc);
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dim_sqrt_nnz_.erase(dim_sqrt_nnz_.begin());
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dim_sqrt_nnz_.push_back(sqrt_nnz);
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dim_contact_.erase(dim_contact_.begin());
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dim_contact_.push_back(data->ncon);
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dim_iteration_.erase(dim_iteration_.begin());
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dim_iteration_.push_back(static_cast<float>(solver_niter) / nisland);
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}
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void SimProfiler::CpuTimeGraph() {
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if (ImPlot::BeginPlot("CPU Time", ImVec2(-1, 0))) {
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ImPlot::SetupAxis(ImAxis_X1, "frame", ImPlotAxisFlags_AutoFit);
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ImPlot::SetupAxis(ImAxis_Y1, "msec", ImPlotAxisFlags_AutoFit);
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ImPlot::SetupAxisFormat(ImAxis_Y1, "%.2f");
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ImPlot::SetupLegend(ImPlotLocation_NorthEast);
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ImPlot::SetupFinish();
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ImPlot::PlotLine("total", cpu_total_.data(), cpu_total_.size(), 1,
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-(int)cpu_total_.size());
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ImPlot::PlotLine("prepare", cpu_prepare_.data(), cpu_prepare_.size(), 1,
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-(int)cpu_prepare_.size());
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ImPlot::PlotLine("solve", cpu_solve_.data(), cpu_solve_.size(), 1,
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-(int)cpu_solve_.size());
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ImPlot::PlotLine("collision", cpu_collision_.data(), cpu_collision_.size(),
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1, -(int)cpu_collision_.size());
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ImPlot::PlotLine("other", cpu_other_.data(), cpu_other_.size(), 1,
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-(int)cpu_other_.size());
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ImPlot::EndPlot();
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}
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}
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void SimProfiler::DimensionsGraph() {
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if (ImPlot::BeginPlot("Dimensions", ImVec2(-1, 0))) {
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ImPlot::SetupAxis(ImAxis_X1, "frame", ImPlotAxisFlags_AutoFit);
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ImPlot::SetupAxis(ImAxis_Y1, "count", ImPlotAxisFlags_AutoFit);
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ImPlot::SetupAxisFormat(ImAxis_Y1, "%.0f");
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ImPlot::SetupLegend(ImPlotLocation_NorthEast);
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ImPlot::SetupFinish();
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ImPlot::PlotLine("dof", dim_dof_.data(), dim_dof_.size(), 1,
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-(int)dim_dof_.size());
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ImPlot::PlotLine("body", dim_body_.data(), dim_body_.size(), 1,
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-(int)dim_body_.size());
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ImPlot::PlotLine("constraint", dim_constraint_.data(),
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dim_constraint_.size(), 1, -(int)dim_constraint_.size());
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ImPlot::PlotLine("sqrt(nnz)", dim_sqrt_nnz_.data(), dim_sqrt_nnz_.size(), 1,
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-(int)dim_sqrt_nnz_.size());
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ImPlot::PlotLine("contact", dim_contact_.data(), dim_contact_.size(), 1,
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-(int)dim_contact_.size());
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ImPlot::PlotLine("iteration", dim_iteration_.data(), dim_iteration_.size(),
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1, -(int)dim_iteration_.size());
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ImPlot::EndPlot();
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}
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}
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} // namespace mujoco::platform
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