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 which steps various models without rendering, and measures speed.
+
+#include <array>
+
+#include <benchmark/benchmark.h>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/base/attributes.h>
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using ::testing::NotNull;
+
+static void add_ctrl_noise(const mjModel* m, mjData* d, int step) {
+  for (int i = 0; i < m->nu; i++) {
+    mjtNum center = 0.0;
+    mjtNum radius = 1.0;
+    mjtNum* range = m->actuator_ctrlrange + 2 * i;
+    if (m->actuator_ctrllimited[i]) {
+      center = (range[1] + range[0]) / 2;
+      radius = (range[1] - range[0]) / 2;
+    }
+    radius *= 0.01;
+    d->ctrl[i] = center + radius * (2 * mju_Halton(step, i + 2) - 1);
+  }
+}
+
+static void assert_model_not_null(mjModel* model,
+                                  const std::array<char, 1024>& error) {
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+}
+
+static mjModel* load_model(const char* model_path) {
+  const std::string xml_path = GetModelPath(model_path);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
+  assert_model_not_null(model, error);
+  return model;
+}
+
+static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
+  mjData* data = mj_makeData(model);
+  int i = 0;
+  for (auto s : state) {
+    add_ctrl_noise(model, data, i++);
+    mj_step(model, data);
+  }
+  mj_deleteData(data);
+  state.SetItemsProcessed(state.iterations());
+}
+
+// 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_step_benchmark).
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCloth(benchmark::State& state) {
+  MujocoErrorTestGuard guard;
+  static mjModel* model = load_model("composite/cloth.xml");
+  run_step_benchmark(model, state);
+}
+BENCHMARK(BM_StepCloth);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid(benchmark::State& state) {
+  MujocoErrorTestGuard guard;
+  static mjModel* model = load_model("humanoid/humanoid.xml");
+  run_step_benchmark(model, state);
+}
+BENCHMARK(BM_StepHumanoid);
+BENCHMARK(BM_StepHumanoid)->ThreadRange(2, 16);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid100(benchmark::State& state) {
+  MujocoErrorTestGuard guard;
+  static mjModel* model = load_model("humanoid100/humanoid100.xml");
+  run_step_benchmark(model, state);
+}
+BENCHMARK(BM_StepHumanoid100);
+
+}  // namespace
+}  // namespace mujoco