Improvements to testspeed
Support named CLI flags, physics overrides, and refactor global state. - **Named CLI Flags**: Replaced standard positional arguments with named flags (`--nstep`, `--nthread`, `--noisestd`, `--noiserate`, `--npoolthread`) and preserved Google-wide flags compatibility (via custom argv compacting and InitGoogle). - **Physics Option Overrides**: Added support for configuring loaded model settings directly from the command line (`--solver`, `--cone`, `--jacobian`, `--integrator`, `--iterations`, `--tolerance`, `--sleep_tolerance`, `--noslip_iterations`). - **Encapsulated Thread State**: Consolidated loose global variables and per-thread rollout statistics arrays into a single data structure, `RolloutRunner runner`, simplifying mutli-threaded data boundaries. - **Readable Physics Options Printing**: Logged configured non-default options dynamically prior to rollout. Enums and active bitmask flags (e.g. disableflags/enableflags) are decoded into friendly strings (e.g., `Sleep : Enabled`). - **Tests & Docs**: Added testspeed_test.sh running testspeed over dominos.xml to check all overrides, registered shell test target in BUILD and CMakeLists.txt, and updated samples.rst documentation. PiperOrigin-RevId: 942285912 Change-Id: Idb966fadfa0ccba0f1862f9d62bf83458b61939a
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
7c0d527005
commit
38f0ff3caa
+398
-133
@@ -12,31 +12,39 @@
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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 <cinttypes>
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#include <algorithm>
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#include <cctype>
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#include <charconv>
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#include <chrono>
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#include <cinttypes>
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <ratio>
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#include <string>
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#include <string_view>
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#include <system_error>
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#include <thread>
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#include <vector>
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#include <mujoco/mujoco.h>
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// maximum number of threads
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const int maxthread = 512;
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// model and per-thread data
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mjModel* m = NULL;
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mjData* d[maxthread];
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// rollout runner state
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struct RolloutRunner {
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mjModel* m = nullptr;
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mjData* d[maxthread] = {nullptr};
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// per-thread statistics
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int contacts[maxthread];
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int constraints[maxthread];
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mjtNum iterations[maxthread];
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mjtNum simtime[maxthread];
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// per-thread statistics
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int contacts[maxthread] = {0};
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int constraints[maxthread] = {0};
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mjtNum iterations[maxthread] = {0.0};
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mjtNum simtime[maxthread] = {0.0};
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};
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static RolloutRunner runner;
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// timer (microseconds)
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mjtNum gettm(void) {
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@@ -61,33 +69,36 @@ int finish(const char* msg = NULL, mjModel* m = NULL) {
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return EXIT_SUCCESS;
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}
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std::vector<mjtNum> CtrlNoise(const mjModel* m, int nsteps, mjtNum ctrl_noise_std, mjtNum ctrl_noise_rate, int key) {
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std::vector<mjtNum> CtrlNoise(const mjModel* m, int nsteps, mjtNum noise_std, mjtNum noise_rate,
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int key) {
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std::vector<mjtNum> ctrl;
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ctrl.reserve(nsteps * m->nu);
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// convert rate and scale to discrete time (Ornstein–Uhlenbeck)
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mjtNum rate = mju_exp(-m->opt.timestep / ctrl_noise_rate);
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mjtNum scale = ctrl_noise_std * mju_sqrt(1-rate*rate);
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mjtNum rate = mju_exp(-m->opt.timestep / noise_rate);
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mjtNum scale = noise_std * mju_sqrt(1 - rate * rate);
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for (int step=0; step < nsteps; step++) {
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for (int step = 0; step < nsteps; step++) {
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for (int i = 0; i < m->nu; i++) {
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mjtNum midpoint = 0.0;
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mjtNum halfrange = 1.0;
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mjtNum* range = m->actuator_ctrlrange + 2 * i;
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if (m->actuator_ctrllimited[i]) {
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midpoint = 0.5 * (range[1] + range[0]);
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midpoint = 0.5 * (range[1] + range[0]);
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halfrange = 0.5 * (range[1] - range[0]);
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}
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// overwrite midpoint with keyframe, if given
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if (key >= 0) {
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midpoint = m->key_ctrl[key*m->nu+i];
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midpoint = m->key_ctrl[key * m->nu + i];
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}
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// exponential convergence to midpoint at ctrl_noise_rate
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mjtNum ctrl_ = step > 0 ? rate * ctrl[(step-1)*m->nu+i] + (1-rate) * midpoint : midpoint;
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mjtNum ctrl_ =
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step > 0 ? rate * ctrl[(step - 1) * m->nu + i] + (1 - rate) * midpoint : midpoint;
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// add noise
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ctrl_ += scale * halfrange * (2 * mju_Halton(step, i+2) - 1);
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ctrl_ += scale * halfrange * (2 * mju_Halton(step, i + 2) - 1);
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// clip to range if limited
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if (m->actuator_ctrllimited[i]) {
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@@ -100,136 +111,392 @@ std::vector<mjtNum> CtrlNoise(const mjModel* m, int nsteps, mjtNum ctrl_noise_st
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return ctrl;
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}
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// thread function
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void simulate(int id, int nstep, mjtNum* ctrl) {
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// clear statistics
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contacts[id] = 0;
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constraints[id] = 0;
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iterations[id] = 0;
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runner.contacts[id] = 0;
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runner.constraints[id] = 0;
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runner.iterations[id] = 0;
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// run and time
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mjtNum start = gettm();
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for (int i=0; i < nstep; i++) {
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for (int i = 0; i < nstep; i++) {
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// inject pseudo-random control noise
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mju_copy(d[id]->ctrl, ctrl + i*m->nu, m->nu);
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mju_copy(runner.d[id]->ctrl, ctrl + i * runner.m->nu, runner.m->nu);
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// advance simulation
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mj_step(m, d[id]);
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mj_step(runner.m, runner.d[id]);
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// accumulate statistics
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contacts[id] += d[id]->ncon;
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constraints[id] += d[id]->nefc;
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int nisland = mjMAX(1, mjMIN(d[id]->nisland, mjNISLAND));
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runner.contacts[id] += runner.d[id]->ncon;
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runner.constraints[id] += runner.d[id]->nefc;
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int nisland = mjMAX(1, mjMIN(runner.d[id]->nisland, mjNISLAND));
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if (nisland == 1 || nisland == 0) {
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iterations[id] += d[id]->solver_niter[0];
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runner.iterations[id] += runner.d[id]->solver_niter[0];
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} else {
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mjtNum niter = 0;
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for (int j=0; j < nisland; j++) {
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niter += d[id]->solver_niter[j];
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for (int j = 0; j < nisland; j++) {
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niter += runner.d[id]->solver_niter[j];
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}
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iterations[id] += niter / nisland;
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runner.iterations[id] += niter / nisland;
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}
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}
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simtime[id] = 1e-6 * (gettm() - start);
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runner.simtime[id] = 1e-6 * (gettm() - start);
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}
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// print non-default options
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static void PrintOptions(const mjModel* m) {
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mjOption optd;
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mj_defaultOption(&optd);
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bool header_printed = false;
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auto print_header = [&]() {
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if (!header_printed) {
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std::printf("\nPhysics options (non-default):\n");
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header_printed = true;
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}
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};
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#define X(type, name, size) \
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if (std::strcmp(#name, "disableflags") != 0 && std::strcmp(#name, "enableflags") != 0 && \
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std::strcmp(#name, "disableactuator") != 0) { \
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if (m->opt.name != optd.name) { \
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print_header(); \
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std::printf(" %-18s: ", #name); \
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if (std::strcmp(#name, "integrator") == 0) { \
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const char* names[] = {"Euler", "RK4", "Implicit", "ImplicitFast"}; \
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int val = (int)m->opt.name; \
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if (val >= 0 && val < 4) { \
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std::printf("%s", names[val]); \
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} else { \
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std::printf("%d", val); \
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} \
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} else if (std::strcmp(#name, "cone") == 0) { \
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const char* names[] = {"Pyramidal", "Elliptic"}; \
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int val = (int)m->opt.name; \
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if (val >= 0 && val < 2) { \
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std::printf("%s", names[val]); \
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} else { \
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std::printf("%d", val); \
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} \
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} else if (std::strcmp(#name, "jacobian") == 0) { \
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const char* names[] = {"Dense", "Sparse", "Auto"}; \
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int val = (int)m->opt.name; \
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if (val >= 0 && val < 3) { \
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std::printf("%s", names[val]); \
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} else { \
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std::printf("%d", val); \
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} \
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} else if (std::strcmp(#name, "solver") == 0) { \
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const char* names[] = {"PGS", "CG", "Newton"}; \
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int val = (int)m->opt.name; \
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if (val >= 0 && val < 3) { \
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std::printf("%s", names[val]); \
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} else { \
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std::printf("%d", val); \
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} \
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} else { \
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if (std::strcmp(#type, "int") == 0) { \
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std::printf("%d", (int)m->opt.name); \
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} else { \
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std::printf("%g", (double)m->opt.name); \
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} \
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} \
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std::printf("\n"); \
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} \
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}
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#define XVEC(type, name, size) \
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{ \
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bool diff = false; \
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for (int i = 0; i < size; ++i) { \
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if (m->opt.name[i] != optd.name[i]) { \
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diff = true; \
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break; \
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} \
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} \
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if (diff) { \
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print_header(); \
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std::printf(" %-18s:", #name); \
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for (int i = 0; i < size; ++i) { \
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std::printf(" %g", (double)m->opt.name[i]); \
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} \
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std::printf("\n"); \
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} \
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}
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// option fields
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#include <mujoco/mjxmacro.h> // NOLINT(build/include)
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MJOPTION_FIELDS
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#undef X
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#undef XVEC
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// disableflags
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for (int i = 0; i < mjNDISABLE; ++i) {
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bool current = (m->opt.disableflags & (1 << i)) != 0;
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bool def = (optd.disableflags & (1 << i)) != 0;
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if (current != def) {
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print_header();
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std::printf(" %-18s: %s\n", mjDISABLESTRING[i], current ? "Disabled" : "Enabled");
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}
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}
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// enableflags
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for (int i = 0; i < mjNENABLE; ++i) {
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bool current = (m->opt.enableflags & (1 << i)) != 0;
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bool def = (optd.enableflags & (1 << i)) != 0;
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if (current != def) {
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print_header();
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std::printf(" %-18s: %s\n", mjENABLESTRING[i], current ? "Enabled" : "Disabled");
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}
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}
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// disableactuator
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if (m->opt.disableactuator != optd.disableactuator) {
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print_header();
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std::printf(" disableactuator :");
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bool first = true;
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for (int i = 0; i < 32; ++i) {
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if (m->opt.disableactuator & (1 << i)) {
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if (!first) std::printf(",");
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std::printf(" %d", i);
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first = false;
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}
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}
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if (first) {
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std::printf(" none");
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}
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std::printf("\n");
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}
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}
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// helper enum parser: returns the matched enum index from the names vector (case-insensitive)
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// or the parsed integer value if it represents a valid number. Returns -1 on failure.
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static int ParseEnum(std::string_view val, const std::vector<std::string>& names) {
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int int_val;
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auto [ptr, ec] = std::from_chars(val.data(), val.data() + val.size(), int_val);
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if (ec == std::errc()) {
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return int_val;
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}
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for (size_t i = 0; i < names.size(); ++i) {
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if (val.size() == names[i].size() &&
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std::equal(val.begin(), val.end(), names[i].begin(), [](unsigned char a, unsigned char b) {
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return std::tolower(a) == std::tolower(b);
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})) {
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return i;
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}
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}
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return -1;
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}
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// main function
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int main(int argc, char** argv) {
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static const char* help_msg =
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"\n"
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"Usage: testspeed [options] model\n"
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"\n"
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" option default semantic\n"
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" ------ ------- --------\n"
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" model path to model (required, positional)\n"
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" --nstep=N 10000 number of steps per rollout\n"
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" --nthread=N 1 number of threads running parallel rollouts\n"
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" --noisestd=X 0.01 scale of pseudo-random noise injected into actuators\n"
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" --noiserate=X 0.1 rate of convergence to ctrl keyframe/midpoint\n"
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" --npoolthread=N 0 number of threads in engine-internal threadpool\n"
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" --solver=S Newton PGS, CG, Newton\n"
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" --cone=C Pyramidal Pyramidal, Elliptic\n"
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" --jacobian=J Auto Dense, Sparse, Auto\n"
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" --integrator=I Euler Euler, RK4, Implicit, ImplicitFast\n"
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" --iterations=N 100 solver iterations limit\n"
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" --tolerance=X 1e-8 solver tolerance\n"
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" --sleep_tolerance=X 1e-4 sleep tolerance\n"
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" --noslip_iterations=N 0 noslip solver iterations limit\n"
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" --help (or no arguments) print this help message\n"
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"\n"
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"Note: If the model has a keyframe named \"test\", it will be loaded prior to simulation\n";
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// print help if arguments are missing
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if (argc < 2 || argc > 7) {
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return finish(
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"\n"
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"Usage: testspeed modelfile [nstep nthread ctrlnoisestd ctrlnoiserate npoolthread]\n"
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"\n"
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" argument default semantic\n"
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" -------- ------- --------\n"
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" modelfile path to model (required)\n"
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" nstep 10000 number of steps per rollout\n"
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" nthread 1 number of threads running parallel rollouts\n"
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" ctrlnoisestd 0.01 scale of pseudo-random noise injected into actuators\n"
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" ctrlnoiserate 0.1 rate of convergence to ctrl keyframe/midpoint\n"
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" npoolthread 0 number of threads in engine-internal threadpool\n"
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"\n"
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"Note: If the model has a keyframe named \"test\", it will be loaded prior to simulation\n");
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}
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// read arguments
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// default values
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int nstep = 10000, nthread = 0, npoolthread = 0;
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// inject small noise by default, to avoid fixed contact state
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double ctrlnoisestd = 0.01;
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double ctrlnoiserate = 0.1;
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if (argc > 2 && (std::sscanf(argv[2], "%d", &nstep) != 1 || nstep <= 0)) {
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return finish("Invalid nstep argument");
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}
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if (argc > 3 && std::sscanf(argv[3], "%d", &nthread) != 1) {
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return finish("Invalid nthread argument");
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}
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if (argc > 4 && std::sscanf(argv[4], "%lf", &ctrlnoisestd) != 1) {
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return finish("Invalid ctrlnoisestd argument");
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}
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if (argc > 5 && std::sscanf(argv[5], "%lf", &ctrlnoiserate) != 1) {
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return finish("Invalid ctrlnoiserate argument");
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}
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if (argc > 6 && std::sscanf(argv[6], "%d", &npoolthread) != 1) {
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return finish("Invalid npoolthread argument");
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double noisestd = 0.01;
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double noiserate = 0.1;
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// option override settings
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bool set_solver = false, set_cone = false, set_jacobian = false, set_integrator = false;
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bool set_iterations = false, set_tolerance = false, set_sleep_tolerance = false;
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bool set_noslip_iterations = false;
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int opt_solver = -1, opt_cone = -1, opt_jacobian = -1, opt_integrator = -1;
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int opt_iterations = -1, opt_noslip_iterations = -1;
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double opt_tolerance = -1.0, opt_sleep_tolerance = -1.0;
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const char* model = nullptr;
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for (int i = 1; i < argc; i++) {
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// helper: given "--key=value" or "--key value", extract the value string
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auto getarg = [&](const char* key) -> const char* {
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std::string prefix = std::string("--") + key + "=";
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if (std::strncmp(argv[i], prefix.c_str(), prefix.size()) == 0) {
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return argv[i] + prefix.size();
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}
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if (std::strcmp(argv[i], (std::string("--") + key).c_str()) == 0) {
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if (i + 1 < argc) {
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return argv[++i];
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}
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}
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return nullptr;
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};
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if (std::strcmp(argv[i], "--help") == 0 || std::strcmp(argv[i], "-h") == 0) {
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return finish(help_msg);
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}
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const char* val;
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if ((val = getarg("nstep"))) {
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if (std::sscanf(val, "%d", &nstep) != 1 || nstep <= 0) {
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return finish("Invalid --nstep argument");
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}
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} else if ((val = getarg("nthread"))) {
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if (std::sscanf(val, "%d", &nthread) != 1) {
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return finish("Invalid --nthread argument");
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}
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} else if ((val = getarg("noisestd"))) {
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if (std::sscanf(val, "%lf", &noisestd) != 1) {
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return finish("Invalid --noisestd argument");
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}
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} else if ((val = getarg("noiserate"))) {
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if (std::sscanf(val, "%lf", &noiserate) != 1) {
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return finish("Invalid --noiserate argument");
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}
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} else if ((val = getarg("npoolthread"))) {
|
||||
if (std::sscanf(val, "%d", &npoolthread) != 1) {
|
||||
return finish("Invalid --npoolthread argument");
|
||||
}
|
||||
} else if ((val = getarg("solver"))) {
|
||||
int parsed = ParseEnum(val, {"PGS", "CG", "Newton"});
|
||||
if (parsed < 0 || parsed > 2) {
|
||||
return finish("Invalid --solver argument");
|
||||
}
|
||||
opt_solver = parsed;
|
||||
set_solver = true;
|
||||
} else if ((val = getarg("cone"))) {
|
||||
int parsed = ParseEnum(val, {"Pyramidal", "Elliptic"});
|
||||
if (parsed < 0 || parsed > 1) {
|
||||
return finish("Invalid --cone argument");
|
||||
}
|
||||
opt_cone = parsed;
|
||||
set_cone = true;
|
||||
} else if ((val = getarg("jacobian"))) {
|
||||
int parsed = ParseEnum(val, {"Dense", "Sparse", "Auto"});
|
||||
if (parsed < 0 || parsed > 2) {
|
||||
return finish("Invalid --jacobian argument");
|
||||
}
|
||||
opt_jacobian = parsed;
|
||||
set_jacobian = true;
|
||||
} else if ((val = getarg("integrator"))) {
|
||||
int parsed = ParseEnum(val, {"Euler", "RK4", "Implicit", "ImplicitFast"});
|
||||
if (parsed < 0 || parsed > 3) {
|
||||
return finish("Invalid --integrator argument");
|
||||
}
|
||||
opt_integrator = parsed;
|
||||
set_integrator = true;
|
||||
} else if ((val = getarg("iterations"))) {
|
||||
if (std::sscanf(val, "%d", &opt_iterations) != 1 || opt_iterations <= 0) {
|
||||
return finish("Invalid --iterations argument");
|
||||
}
|
||||
set_iterations = true;
|
||||
} else if ((val = getarg("tolerance"))) {
|
||||
if (std::sscanf(val, "%lf", &opt_tolerance) != 1 || opt_tolerance < 0) {
|
||||
return finish("Invalid --tolerance argument");
|
||||
}
|
||||
set_tolerance = true;
|
||||
} else if ((val = getarg("sleep_tolerance"))) {
|
||||
if (std::sscanf(val, "%lf", &opt_sleep_tolerance) != 1 || opt_sleep_tolerance < 0) {
|
||||
return finish("Invalid --sleep_tolerance argument");
|
||||
}
|
||||
set_sleep_tolerance = true;
|
||||
} else if ((val = getarg("noslip_iterations"))) {
|
||||
if (std::sscanf(val, "%d", &opt_noslip_iterations) != 1 || opt_noslip_iterations < 0) {
|
||||
return finish("Invalid --noslip_iterations argument");
|
||||
}
|
||||
set_noslip_iterations = true;
|
||||
} else if (argv[i][0] != '-') {
|
||||
// positional argument: model file
|
||||
model = argv[i];
|
||||
} else {
|
||||
std::printf("Unknown option: %s\n", argv[i]);
|
||||
return finish(help_msg);
|
||||
}
|
||||
}
|
||||
|
||||
// clamp ctrlnoisestd to [0.0, 1.0]
|
||||
ctrlnoisestd = mju_clip(ctrlnoisestd, 0.0, 1.0);
|
||||
// model file is required
|
||||
if (!model) {
|
||||
return finish(help_msg);
|
||||
}
|
||||
|
||||
// clamp ctrlnoiserate to [0.0, 1.0]
|
||||
ctrlnoiserate = mju_clip(ctrlnoiserate, 0.0, 1.0);
|
||||
// clamp noisestd to [0.0, 1.0]
|
||||
noisestd = mju_clip(noisestd, 0.0, 1.0);
|
||||
|
||||
// clamp noiserate to [0.0, 1.0]
|
||||
noiserate = mju_clip(noiserate, 0.0, 1.0);
|
||||
|
||||
// clamp nthread to [1, maxthread]
|
||||
nthread = mjMAX(1, mjMIN(maxthread, nthread));
|
||||
npoolthread = mjMAX(1, mjMIN(maxthread, npoolthread));
|
||||
|
||||
// get filename, determine file type
|
||||
std::string filename(argv[1]);
|
||||
std::string filename(model);
|
||||
bool binary = (filename.find(".mjb") != std::string::npos); // NOLINT
|
||||
|
||||
// load model
|
||||
char error[1000] = "Could not load binary model";
|
||||
if (binary) {
|
||||
m = mj_loadModel(argv[1], 0);
|
||||
runner.m = mj_loadModel(model, 0);
|
||||
} else {
|
||||
m = mj_loadXML(argv[1], 0, error, 1000);
|
||||
runner.m = mj_loadXML(model, 0, error, 1000);
|
||||
}
|
||||
if (!m) {
|
||||
if (!runner.m) {
|
||||
return finish(error);
|
||||
}
|
||||
|
||||
// apply command-line option overrides
|
||||
if (set_solver) runner.m->opt.solver = opt_solver;
|
||||
if (set_cone) runner.m->opt.cone = opt_cone;
|
||||
if (set_jacobian) runner.m->opt.jacobian = opt_jacobian;
|
||||
if (set_integrator) runner.m->opt.integrator = opt_integrator;
|
||||
if (set_iterations) runner.m->opt.iterations = opt_iterations;
|
||||
if (set_tolerance) runner.m->opt.tolerance = opt_tolerance;
|
||||
if (set_sleep_tolerance) runner.m->opt.sleep_tolerance = opt_sleep_tolerance;
|
||||
if (set_noslip_iterations) runner.m->opt.noslip_iterations = opt_noslip_iterations;
|
||||
|
||||
// make per-thread data
|
||||
int testkey = mj_name2id(m, mjOBJ_KEY, "test");
|
||||
for (int id=0; id < nthread; id++) {
|
||||
int testkey = mj_name2id(runner.m, mjOBJ_KEY, "test");
|
||||
for (int id = 0; id < nthread; id++) {
|
||||
// make mjData(s)
|
||||
d[id] = mj_makeData(m);
|
||||
if (!d[id]) {
|
||||
return finish("Could not allocate mjData", m);
|
||||
runner.d[id] = mj_makeData(runner.m);
|
||||
if (!runner.d[id]) {
|
||||
return finish("Could not allocate mjData", runner.m);
|
||||
}
|
||||
|
||||
// reset to keyframe
|
||||
if (testkey >= 0) {
|
||||
mj_resetDataKeyframe(m, d[id], testkey);
|
||||
mj_resetDataKeyframe(runner.m, runner.d[id], testkey);
|
||||
}
|
||||
|
||||
// make and bind threadpool
|
||||
if (npoolthread > 1) {
|
||||
mju_threadpool(d[id], npoolthread);
|
||||
mju_threadpool(runner.d[id], npoolthread);
|
||||
}
|
||||
}
|
||||
|
||||
// install timer callback for profiling
|
||||
mjcb_time = gettm;
|
||||
|
||||
// print physics options if not default
|
||||
PrintOptions(runner.m);
|
||||
|
||||
// print start
|
||||
std::printf("\nRolling out %d steps%s at dt = %g",
|
||||
nstep,
|
||||
nthread > 1 ? " per thread" : "",
|
||||
m->opt.timestep);
|
||||
std::printf("\nRolling out %d steps%s at dt = %g", nstep, nthread > 1 ? " per thread" : "",
|
||||
runner.m->opt.timestep);
|
||||
|
||||
// print precision
|
||||
if (sizeof(mjtNum) == 4) {
|
||||
@@ -238,22 +505,22 @@ int main(int argc, char** argv) {
|
||||
std::printf(", using double precision");
|
||||
}
|
||||
|
||||
// print threadpool size
|
||||
// print thread pool size
|
||||
if (npoolthread > 1) {
|
||||
std::printf(", using %d threads", npoolthread);
|
||||
}
|
||||
std::printf("...\n\n");
|
||||
std::printf("...\n");
|
||||
|
||||
// create pseudo-random control sequence
|
||||
std::vector<mjtNum> ctrl = CtrlNoise(m, nstep, ctrlnoisestd, ctrlnoiserate, testkey);
|
||||
std::vector<mjtNum> ctrl = CtrlNoise(runner.m, nstep, noisestd, noiserate, testkey);
|
||||
|
||||
// run simulation, record total time
|
||||
std::thread th[maxthread];
|
||||
double starttime = gettm();
|
||||
for (int id=0; id < nthread; id++) {
|
||||
for (int id = 0; id < nthread; id++) {
|
||||
th[id] = std::thread(simulate, id, nstep, ctrl.data());
|
||||
}
|
||||
for (int id=0; id < nthread; id++) {
|
||||
for (int id = 0; id < nthread; id++) {
|
||||
th[id].join();
|
||||
}
|
||||
double tottime = 1e-6 * (gettm() - starttime); // total time, in seconds
|
||||
@@ -263,41 +530,44 @@ int main(int argc, char** argv) {
|
||||
if (nthread > 1) {
|
||||
std::printf("Summary for all %d threads\n\n", nthread);
|
||||
std::printf(" Total simulation time : %.2f s\n", tottime);
|
||||
std::printf(" Total steps per second : %.0f\n", nthread*nstep/tottime);
|
||||
std::printf(" Total realtime factor : %.2f x\n", nthread*nstep*m->opt.timestep/tottime);
|
||||
std::printf(" Total time per step : %.1f %ss\n\n", 1e6*tottime/(nthread*nstep), mu_str);
|
||||
std::printf(" Total steps per second : %.0f\n", nthread * nstep / tottime);
|
||||
std::printf(" Total realtime factor : %.2f x\n",
|
||||
nthread * nstep * runner.m->opt.timestep / tottime);
|
||||
std::printf(" Total time per step : %.1f %ss\n\n", 1e6 * tottime / (nthread * nstep),
|
||||
mu_str);
|
||||
|
||||
std::printf("Details for thread 0\n\n");
|
||||
}
|
||||
|
||||
// solver names indexed by mjtSolver
|
||||
const char* solver[] = {"PGS", "CG", "Newton"};
|
||||
const char* solver_names[] = {"PGS", "CG", "Newton"};
|
||||
const char* solto6[] = {" ", " ", ""}; // complete to 6 characters
|
||||
|
||||
// details for thread 0
|
||||
std::printf(" Simulation time : %.2f s\n", simtime[0]);
|
||||
std::printf(" Steps per second : %.0f\n", nstep/simtime[0]);
|
||||
std::printf(" Realtime factor : %.2f x\n", nstep*m->opt.timestep/simtime[0]);
|
||||
std::printf(" Time per step : %.1f %ss\n\n", 1e6*simtime[0]/nstep, mu_str);
|
||||
std::printf(" %s iters / step %s: %.2f\n",
|
||||
solver[m->opt.solver], solto6[m->opt.solver], iterations[0]/nstep);
|
||||
std::printf(" Contacts / step : %.2f\n", static_cast<float>(contacts[0])/nstep);
|
||||
std::printf(" Constraints / step : %.2f\n", static_cast<float>(constraints[0])/nstep);
|
||||
std::printf(" Degrees of freedom : %" PRId64 "\n", m->nv);
|
||||
std::printf(" Simulation time : %.2f s\n", runner.simtime[0]);
|
||||
std::printf(" Steps per second : %.0f\n", nstep / runner.simtime[0]);
|
||||
std::printf(" Realtime factor : %.2f x\n",
|
||||
nstep * runner.m->opt.timestep / runner.simtime[0]);
|
||||
std::printf(" Time per step : %.1f %ss\n\n", 1e6 * runner.simtime[0] / nstep, mu_str);
|
||||
std::printf(" %s iters / step %s: %.2f\n", solver_names[runner.m->opt.solver],
|
||||
solto6[runner.m->opt.solver], runner.iterations[0] / nstep);
|
||||
std::printf(" Contacts / step : %.2f\n", static_cast<float>(runner.contacts[0]) / nstep);
|
||||
std::printf(" Constraints / step : %.2f\n", static_cast<float>(runner.constraints[0]) / nstep);
|
||||
std::printf(" Degrees of freedom : %" PRId64 "\n", runner.m->nv);
|
||||
std::printf(" Dynamic memory usage : %.1f%% of %s\n\n",
|
||||
100 * d[0]->maxuse_arena / (double)(d[0]->narena),
|
||||
mju_writeNumBytes(d[0]->narena));
|
||||
100 * runner.d[0]->maxuse_arena / (double)(runner.d[0]->narena),
|
||||
mju_writeNumBytes(runner.d[0]->narena));
|
||||
|
||||
// profiler, top-level
|
||||
printf(" Internal profiler%s, %ss per step\n", nthread > 1 ? " for thread 0" : "", mu_str);
|
||||
int number = d[0]->timer[mjTIMER_STEP].number;
|
||||
mjtNum tstep = number ? d[0]->timer[mjTIMER_STEP].duration/number : 0.0;
|
||||
int number = runner.d[0]->timer[mjTIMER_STEP].number;
|
||||
mjtNum tstep = number ? runner.d[0]->timer[mjTIMER_STEP].duration / number : 0.0;
|
||||
mjtNum components = 0, total = 0;
|
||||
for (int i=0; i <= mjTIMER_ADVANCE; i++) {
|
||||
if (d[0]->timer[i].number > 0) {
|
||||
int number = d[0]->timer[i].number;
|
||||
mjtNum istep = number ? d[0]->timer[i].duration/number : 0.0;
|
||||
mjtNum percent = number ? 100*istep/tstep : 0.0;
|
||||
for (int i = 0; i <= mjTIMER_ADVANCE; i++) {
|
||||
if (runner.d[0]->timer[i].number > 0) {
|
||||
int number = runner.d[0]->timer[i].number;
|
||||
mjtNum istep = number ? runner.d[0]->timer[i].duration / number : 0.0;
|
||||
mjtNum percent = number ? 100 * istep / tstep : 0.0;
|
||||
std::printf(" %17s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[i], istep, percent);
|
||||
|
||||
// save step time, add up timing of components
|
||||
@@ -311,43 +581,38 @@ int main(int argc, char** argv) {
|
||||
// "other" (computation not covered by timers)
|
||||
if (tstep > 0) {
|
||||
mjtNum other = total - components;
|
||||
std::printf(" %17s : %6.1f (%6.2f %%)\n", "other", other, 100*other/tstep);
|
||||
std::printf(" %17s : %6.1f (%6.2f %%)\n", "other", other, 100 * other / tstep);
|
||||
}
|
||||
|
||||
std::printf("\n");
|
||||
|
||||
// mjTIMER_POSITION and its components
|
||||
for (int i : {mjTIMER_POSITION,
|
||||
mjTIMER_POS_KINEMATICS,
|
||||
mjTIMER_POS_INERTIA,
|
||||
mjTIMER_POS_COLLISION,
|
||||
mjTIMER_POS_MAKE,
|
||||
mjTIMER_POS_PROJECT}) {
|
||||
if (d[0]->timer[i].number > 0) {
|
||||
mjtNum istep = d[0]->timer[i].duration/d[0]->timer[i].number;
|
||||
for (int i : {mjTIMER_POSITION, mjTIMER_POS_KINEMATICS, mjTIMER_POS_INERTIA,
|
||||
mjTIMER_POS_COLLISION, mjTIMER_POS_MAKE, mjTIMER_POS_PROJECT}) {
|
||||
if (runner.d[0]->timer[i].number > 0) {
|
||||
mjtNum istep = runner.d[0]->timer[i].duration / runner.d[0]->timer[i].number;
|
||||
if (i == mjTIMER_POSITION) {
|
||||
std::printf(" position total : %6.1f (%6.2f %%)\n", istep, 100*istep/tstep);
|
||||
std::printf(" position total : %6.1f (%6.2f %%)\n", istep, 100 * istep / tstep);
|
||||
} else {
|
||||
std::printf(" %-10s : %6.1f (%6.2f %%)\n",
|
||||
mjTIMERSTRING[i]+4, istep, 100*istep/tstep);
|
||||
std::printf(" %-10s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[i] + 4, istep,
|
||||
100 * istep / tstep);
|
||||
}
|
||||
}
|
||||
|
||||
// components of mjTIMER_POS_COLLISION
|
||||
if (i == mjTIMER_POS_COLLISION) {
|
||||
for (int j : {mjTIMER_COL_BROAD, mjTIMER_COL_NARROW}) {
|
||||
int number = d[0]->timer[j].number;
|
||||
mjtNum jstep = number ? d[0]->timer[j].duration/number : 0.0;
|
||||
mjtNum percent = number ? 100*jstep/tstep : 0.0;
|
||||
std::printf(" %-11s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[j]+4, jstep, percent);
|
||||
int number = runner.d[0]->timer[j].number;
|
||||
mjtNum jstep = number ? runner.d[0]->timer[j].duration / number : 0.0;
|
||||
mjtNum percent = number ? 100 * jstep / tstep : 0.0;
|
||||
std::printf(" %-11s : %6.1f (%6.2f %%)\n", mjTIMERSTRING[j] + 4, jstep, percent);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// free per-thread data
|
||||
for (int id=0; id < nthread; id++) {
|
||||
mj_deleteData(d[id]);
|
||||
for (int id = 0; id < nthread; id++) {
|
||||
mj_deleteData(runner.d[id]);
|
||||
}
|
||||
|
||||
// finalize
|
||||
|
||||
Reference in New Issue
Block a user