print memory footprint of model and data
PiperOrigin-RevId: 694088011 Change-Id: I3b743df2a59f554414b440aebfa6bf0d0e29b2d8
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
d6d3d6bb25
commit
414b677eb8
+88
-10
@@ -27,6 +27,7 @@
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#include "engine/engine_core_constraint.h"
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#include "engine/engine_io.h"
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#include "engine/engine_name.h"
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#include "engine/engine_macro.h"
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#include "engine/engine_support.h"
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#include "engine/engine_util_errmem.h"
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#include "engine/engine_util_misc.h"
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@@ -163,7 +164,58 @@ static void printVector(const char* str, const mjtNum* data, int n, FILE* fp,
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//------------------------------ printing functions ------------------------------------------------
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// print human readable memory size
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static const char* memorySize(size_t nbytes) {
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static mjTHREADLOCAL char message[20];
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int k = 1024;
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if (nbytes < k) {
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snprintf(message, sizeof(message), "%5zu bytes", nbytes);
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} else if (nbytes < k*k) {
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snprintf(message, sizeof(message), "%5.1f KB", (double)nbytes / k);
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} else if (nbytes < k*k*k) {
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snprintf(message, sizeof(message), "%5.1f MB", (double)nbytes / (k*k));
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} else {
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snprintf(message, sizeof(message), "%5.1f GB", (double)nbytes / (k*k*k));
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}
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return message;
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}
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// return memory footprint of all significant mesh-related arrays
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static size_t sizeMesh(const mjModel* m) {
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size_t nbytes = 0;
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nbytes += sizeof(float) * 3*m->nmeshvert; // mesh_vert
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nbytes += sizeof(float) * 3*m->nmeshnormal; // mesh_normal
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nbytes += sizeof(float) * 2*m->nmeshtexcoord; // mesh_texcoord
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nbytes += sizeof(int) * 3*m->nmeshface; // mesh_face
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nbytes += sizeof(int) * 3*m->nmeshface; // mesh_facenormal
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nbytes += sizeof(int) * 3*m->nmeshface; // mesh_facetexcoord
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nbytes += sizeof(int) * m->nmeshgraph; // mesh_graph
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return nbytes;
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}
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// return memory footprint of all significant skin-related arrays
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static size_t sizeSkin(const mjModel* m) {
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size_t nbytes = 0;
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nbytes += sizeof(float) * 3*m->nskinvert; // skin_vert
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nbytes += sizeof(float) * 2*m->nskintexvert; // skin_texcoord
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nbytes += sizeof(int) * 3*m->nskinface; // skin_face
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nbytes += sizeof(int) * m->nskinbone; // skin_bonevertadr
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nbytes += sizeof(int) * m->nskinbone; // skin_bonevertnum
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nbytes += sizeof(float) * 3*m->nskinbone; // skin_bonebindpos
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nbytes += sizeof(float) * 4*m->nskinbone; // skin_bonebindquat
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nbytes += sizeof(int) * m->nskinbone; // skin_bonebodyid
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nbytes += sizeof(int) * m->nskinbonevert; // skin_bonevertid
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nbytes += sizeof(float) * m->nskinbonevert; // skin_bonevertweight
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return nbytes;
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}
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// return whether float_format is a valid format string for a single float
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static bool validateFloatFormat(const char* float_format) {
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@@ -240,6 +292,7 @@ static bool validateFloatFormat(const char* float_format) {
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#pragma clang diagnostic ignored "-Wuninitialized"
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#endif
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//------------------------------ printing functions ------------------------------------------------
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// print mjModel to text file, specifying format. float_format must be a
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// valid printf-style format string for a single float value
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@@ -274,14 +327,30 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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fprintf(fp, "MuJoCo version %s\n", mj_versionString());
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fprintf(fp, "model name %s\n\n", m->names);
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// memory footprint
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fprintf(fp, "MEMORY\n");
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fprintf(fp, " total %s\n", memorySize(mj_sizeModel(m)));
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if (m->nmesh) {
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fprintf(fp, " meshes %s\n", memorySize(sizeMesh(m)));
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}
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if (m->ntex) {
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fprintf(fp, " textures %s\n", memorySize(m->ntexdata));
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}
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if (m->nskin) {
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fprintf(fp, " skins %s\n", memorySize(sizeSkin(m)));
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}
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fprintf(fp, "\n");
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// sizes
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fprintf(fp, "SIZES\n");
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#define X( name ) \
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if (m->name) { \
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const char* format = _Generic( \
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m->name, \
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size_t : SIZE_T_FORMAT, \
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default : INT_FORMAT); \
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fprintf(fp, NAME_FORMAT, #name); \
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fprintf(fp, NAME_FORMAT, " " #name); \
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fprintf(fp, format, m->name); \
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fprintf(fp, "\n"); \
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}
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@@ -291,8 +360,9 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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fprintf(fp, "\n");
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// scalar options
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fprintf(fp, "OPTION\n");
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#define X( type, name ) \
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fprintf(fp, NAME_FORMAT, #name); \
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fprintf(fp, NAME_FORMAT, " " #name); \
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fprintf(fp, float_format, m->opt.name); \
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fprintf(fp, "\n");
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@@ -300,7 +370,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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#undef X
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#define X( type, name ) \
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fprintf(fp, NAME_FORMAT, #name); \
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fprintf(fp, NAME_FORMAT, " " #name); \
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fprintf(fp, INT_FORMAT "\n", m->opt.name);
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MJOPTION_INTS
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@@ -308,7 +378,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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// vector options
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#define X( name, sz ) \
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fprintf(fp, NAME_FORMAT, #name); \
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fprintf(fp, NAME_FORMAT, " " #name); \
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for (int i=0; i < sz; i++) { \
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fprintf(fp, float_format, m->opt.name[i]); \
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fprintf(fp, " "); \
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@@ -325,19 +395,20 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
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fprintf(fp, "\n\n");
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// statistics
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fprintf(fp, NAME_FORMAT, "meaninertia");
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fprintf(fp, "STATISTIC\n");
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fprintf(fp, NAME_FORMAT, " meaninertia");
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fprintf(fp, float_format, m->stat.meaninertia);
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fprintf(fp, "\n");
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fprintf(fp, NAME_FORMAT, "meanmass");
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fprintf(fp, NAME_FORMAT, " meanmass");
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fprintf(fp, float_format, m->stat.meanmass);
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fprintf(fp, "\n");
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fprintf(fp, NAME_FORMAT, "meansize");
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fprintf(fp, NAME_FORMAT, " meansize");
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fprintf(fp, float_format, m->stat.meansize);
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fprintf(fp, "\n");
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fprintf(fp, NAME_FORMAT, "extent");
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fprintf(fp, NAME_FORMAT, " extent");
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fprintf(fp, float_format, m->stat.extent);
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fprintf(fp, "\n");
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fprintf(fp, NAME_FORMAT, "center");
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fprintf(fp, NAME_FORMAT, " center");
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fprintf(fp, float_format, m->stat.center[0]);
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fprintf(fp, float_format, m->stat.center[1]);
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fprintf(fp, float_format, m->stat.center[2]);
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@@ -828,6 +899,13 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
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__msan_copy_shadow(shadow, d->buffer, d->nbuffer);
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__msan_unpoison(d->buffer, d->nbuffer);
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#endif
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fprintf(fp, "MEMORY\n");
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fprintf(fp, " total %s\n", memorySize(sizeof(mjData) + d->nbuffer + d->narena));
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fprintf(fp, " struct %s\n", memorySize(sizeof(mjData)));
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fprintf(fp, " buffer %s\n", memorySize(d->nbuffer));
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fprintf(fp, " arena %s\n\n", memorySize(d->narena));
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// ---------------------------------- print mjData fields
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fprintf(fp, "SIZES\n");
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