Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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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.
+
+// A benchmark for parsing and compiling models from XML.
+
+#include <array>
+
+#include <benchmark/benchmark.h>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/base/attributes.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using ::testing::NotNull;
+
+static void run_parse_benchmark(const char *model_path, benchmark::State& state) {
+  MujocoErrorTestGuard guard;  // Fail test if there are any mujoco errors
+
+  const std::string xml_path = GetModelPath(model_path);
+  std::array<char, 1024> error;
+  for (auto s : state) {
+    // TODO(nimrod): Load the models from VFS rather than from disk, to
+    // limit the benchmark to the parsing and model compilation speed.
+    mjModel* model =
+      mj_loadXML(xml_path.data(), nullptr, error.data(), error.size());
+    ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+    mj_deleteModel(model);
+  }
+  state.SetLabel(model_path);
+}
+
+// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
+// separately in CPU profiles (and don't get replaced with raw calls to
+// run_parse_benchmark).
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCloth(benchmark::State& state) {
+  run_parse_benchmark("composite/cloth.xml", state);
+}
+BENCHMARK(BM_ParseCloth);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid(benchmark::State& state) {
+  run_parse_benchmark("humanoid/humanoid.xml", state);
+}
+BENCHMARK(BM_ParseHumanoid);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
+  run_parse_benchmark("humanoid100/humanoid100.xml", state);
+}
+BENCHMARK(BM_ParseHumanoid100);
+
+}  // namespace
+}  // namespace mujoco