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Dynamically allocate contact and efc_ arrays on a new memory arena.

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- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.

- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.

- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).

- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.

PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
This commit is contained in:
Saran Tunyasuvunakool
2022-10-06 10:02:35 -07:00
committed by Copybara-Service
parent 4d85a464cc
commit 58fd72f53d
29 changed files with 1281 additions and 433 deletions
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test/xml/xml_native_writer_test.cc
+118 -14
View File
@@ -52,6 +52,69 @@ using ::testing::NotNull;
using XMLWriterTest = MujocoTest;
TEST_F(XMLWriterTest, SavesMemory) {
{
static constexpr char xml[] = R"(
<mujoco>
<size memory=" 1023 "/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1024"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1K\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="4096"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"4K\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1048576"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1M\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1047552"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023K\""));
mj_deleteModel(model);
}
}
TEST_F(XMLWriterTest, SavesDisableSensor) {
static constexpr char xml[] = R"(
<mujoco>
@@ -118,6 +181,7 @@ TEST_F(XMLWriterTest, NotAddsInertial) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
mj_deleteModel(model);
@@ -136,6 +200,7 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
mj_deleteModel(model);
@@ -154,6 +219,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
@@ -173,6 +239,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
@@ -193,6 +260,7 @@ TEST_F(XMLWriterTest, KeepsJointLimitedFalseIfAutoLimits) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
mj_deleteModel(model);
@@ -219,6 +287,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
@@ -247,6 +316,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
@@ -275,6 +345,7 @@ TEST_F(XMLWriterTest, KeepsTendonLimitedFalseIfAutoLimits) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
mj_deleteModel(model);
@@ -296,6 +367,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
@@ -319,6 +391,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
@@ -342,6 +415,7 @@ TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"false\" actrange=\"-1 1\""));
mj_deleteModel(model);
@@ -363,6 +437,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
@@ -385,6 +460,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimitedIfAutoLimits) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
@@ -406,6 +482,7 @@ TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"false\" ctrlrange=\"-1 1\""));
mj_deleteModel(model);
@@ -427,6 +504,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
@@ -449,6 +527,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
@@ -471,8 +550,10 @@ TEST_F(XMLWriterTest, KeepsForcelimitedFalse) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("forcelimited=\"false\" forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml,
HasSubstr("forcelimited=\"false\" forcerange=\"-1 1\""));
mj_deleteModel(model);
}
@@ -487,6 +568,7 @@ TEST_F(XMLWriterTest, UndefinedMassDensity) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
@@ -507,6 +589,7 @@ TEST_F(XMLWriterTest, WritesDefaults) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
EXPECT_THAT(saved_xml, HasSubstr("<geom density=\"100\"/>"));
@@ -524,6 +607,7 @@ TEST_F(XMLWriterTest, WritesDensity) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("density=\"100\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
@@ -541,6 +625,7 @@ TEST_F(XMLWriterTest, WritesMass) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"0.1\""));
@@ -558,6 +643,7 @@ TEST_F(XMLWriterTest, ZeroMass) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"0\""));
@@ -575,6 +661,7 @@ TEST_F(XMLWriterTest, OverwritesDensity) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"100\""));
@@ -589,6 +676,7 @@ TEST_F(XMLWriterTest, UsesTwoSpaces) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr(" "));
EXPECT_THAT(saved_xml, Not(HasSubstr(" ")));
@@ -609,9 +697,13 @@ TEST_F(XMLWriterTest, WritesSkin) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(model, NotNull());
EXPECT_THAT(model->nskin, 1);
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(mtemp, NotNull());
EXPECT_THAT(mtemp->nskin, 1);
mj_deleteModel(model);
mj_deleteModel(mtemp);
}
@@ -626,12 +718,17 @@ TEST_F(XMLWriterTest, SetPrecision) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
// save to XML and re-load, expect to lose precision
mjModel* model_lo = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(model_lo, NotNull());
EXPECT_EQ(model->geom_size[1], model_lo->geom_size[1]);
EXPECT_NE(model->geom_size[2], model_lo->geom_size[2]);
{
// save to XML and re-load with FullFloatPrecision, expect to maintain precision
// save to XML and re-load with FullFloatPrecision
// expect to maintain precision
FullFloatPrecision increase_precision;
mjModel* model_hi = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(model->geom_size[2], model_hi->geom_size[2]);
@@ -664,6 +761,7 @@ TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("0.1 1.23 2.345"));
mj_deleteModel(model);
@@ -675,7 +773,7 @@ TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
}
// ------------------------ test loading and saving multiple files ---------------------------------
// ------------------- test loading and saving multiple files ------------------
namespace mju = ::mujoco::util;
static constexpr int kFieldSize = 500;
@@ -695,10 +793,12 @@ template<typename T = mjtNum> T Compare(T val1, T val2) {
return error < 2*10*std::numeric_limits<T>::epsilon() ? 0 : error;
}
mjtNum CompareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSize]) {
mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
char (&field)[kFieldSize]) {
mjtNum dif, maxdif = 0.0;
// define symbols corresponding to number of columns (needed in MJMODEL_POINTERS)
// define symbols corresponding to number of columns
// (needed in MJMODEL_POINTERS)
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints
@@ -739,7 +839,8 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSi
TEST_F(XMLWriterTest, WriteReadCompare) {
FullFloatPrecision increase_precision;
// Loop over all xml files in data
std::vector<std::string> paths = {GetTestDataFilePath("."), GetModelPath(".")};
std::vector<std::string> paths = {GetTestDataFilePath("."),
GetModelPath(".")};
std::string ext(".xml");
for (auto const& path : paths) {
for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
@@ -753,15 +854,18 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
// load model
std::array<char, 1000> error;
mjModel* m = mj_loadXML(xml.c_str(), nullptr, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << "Failed to load " << xml.c_str() << ": " << error.data();
mjModel* m = mj_loadXML(
xml.c_str(), nullptr, error.data(), error.size());
ASSERT_THAT(m, NotNull())
<< "Failed to load " << xml.c_str() << ": " << error.data();
// make data
mjData* d = mj_makeData(m);
ASSERT_THAT(d, testing::NotNull()) << "Failed to create data" << std::endl;
ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
// save and load back
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(m), error.data(), error.size());
mjModel* mtemp =
LoadModelFromString(SaveAndReadXml(m), error.data(), error.size());
if (!mtemp) {
// if failing because assets are missing, accept the test
@@ -770,9 +874,9 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
// compare and delete
char field[kFieldSize] = "";
mjtNum result = CompareModel(m, mtemp, field);
EXPECT_LE(result, 0) << "Loaded and saved models are different!" << std::endl
<< "Affected file " << p.path().string() << std::endl
<< "Different field: " << field << std::endl;
EXPECT_LE(result, 0) << "Loaded and saved models are different!\n"
<< "Affected file " << p.path().string() << '\n'
<< "Different field: " << field << '\n';
mj_deleteModel(mtemp);
}