Improvements to time synchronisation in simulate.
- Improved time-sync logic readability in `PhysicsLoop`. - Fixed unattainable condition for breaking from stepping loop if data was reset. - Added measurement of actual real-time tracking. - Moved slowdown overlay to top left. - Report slowdown as % of real-time, rather than fraction. - Report actual slowdown if different than requested (very small timestep, PhysicsLoop cannot keep up) by more than 10%. - Replaced slowdown increments of 2 with decimal-rounded increments of 10^(1/10). This is a finer-grained scale (approximately 3x as fine) and well suited for decimal percentage representation. - Maximum slowdown increased to 1000. - Added `Simulate.refreshrate` with a default of 60Hz, in case videomode refreshrate is 0 (can occur e.g. when forwarding over X11). - Remove realtime reporting from regular info overlay. - Various cleanups. PiperOrigin-RevId: 471547481 Change-Id: Idd2514a4defb1dc431617f3a515cc747c4fd8971
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
7839c1c42a
commit
834e8dd506
@@ -48,9 +48,12 @@ General
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the free camera at model load time.
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- Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
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- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
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- Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from
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requested factor.
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- Added a disable flag for sensors.
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- :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
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|br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
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Deleted/deprecated features
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^^^^^^^^^^^^^^^^^^^^^^^^^^^
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+42
-24
@@ -22,7 +22,6 @@
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#include <thread>
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#include <mujoco/mujoco.h>
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#include <mujoco/mjxmacro.h>
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#include "glfw_dispatch.h"
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#include "simulate.h"
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#include "array_safety.h"
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@@ -34,9 +33,9 @@ namespace mju = ::mujoco::sample_util;
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using ::mujoco::Glfw;
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// constants
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const double syncmisalign = 0.1; // maximum time mis-alignment before re-sync
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const double refreshfactor = 0.7; // fraction of refresh available for simulation
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const int kErrorLength = 1024;
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const double syncMisalign = 0.1; // maximum mis-alignment before re-sync (simulation seconds)
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const double simRefreshFraction = 0.7; // fraction of refresh available for simulation
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const int kErrorLength = 1024; // load error string length
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// model and data
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mjModel* m = nullptr;
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@@ -101,8 +100,8 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
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// simulate in background thread (while rendering in main thread)
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void PhysicsLoop(mj::Simulate& sim) {
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// cpu-sim syncronization point
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double cpusync = 0;
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mjtNum simsync = 0;
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double syncCPU = 0;
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mjtNum syncSim = 0;
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// run until asked to exit
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while (!sim.exitrequest.load()) {
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@@ -154,6 +153,7 @@ void PhysicsLoop(mj::Simulate& sim) {
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}
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{
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// lock the sim mutex
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const std::lock_guard<std::mutex> lock(sim.mtx);
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// run only if model is present
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@@ -161,30 +161,39 @@ void PhysicsLoop(mj::Simulate& sim) {
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// running
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if (sim.run) {
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// record cpu time at start of iteration
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double tmstart = Glfw().glfwGetTime();
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double startCPU = Glfw().glfwGetTime();
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// elapsed CPU and simulation time since last sync
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double elapsedCPU = startCPU - syncCPU;
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double elapsedSim = d->time - syncSim;
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// inject noise
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if (sim.ctrlnoisestd) {
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// convert rate and scale to discrete time given current timestep
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// convert rate and scale to discrete time (Ornstein–Uhlenbeck)
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mjtNum rate = mju_exp(-m->opt.timestep / sim.ctrlnoiserate);
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mjtNum scale = sim.ctrlnoisestd * mju_sqrt(1-rate*rate);
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for (int i=0; i<m->nu; i++) {
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// update noise
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ctrlnoise[i] = rate * ctrlnoise[i] + scale * mju_standardNormal(nullptr);
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// apply noise
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d->ctrl[i] = ctrlnoise[i];
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}
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}
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// out-of-sync (for any reason)
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mjtNum offset = mju_abs((d->time*sim.slow_down-simsync)-(tmstart-cpusync));
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if (d->time*sim.slow_down<simsync || tmstart<cpusync || cpusync==0 ||
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offset > syncmisalign*sim.slow_down || sim.speed_changed) {
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// requested slow-down factor
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double slowdown = 100 / sim.percentRealTime[sim.realTimeIndex];
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// misalignment condition: distance from target sim time is bigger than syncmisalign
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bool misaligned = mju_abs(elapsedCPU/slowdown - elapsedSim) > syncMisalign;
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// out-of-sync (for any reason): reset sync times, step
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if (elapsedSim < 0 || elapsedCPU < 0 || syncCPU == 0 || misaligned || sim.speedChanged) {
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// re-sync
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cpusync = tmstart;
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simsync = d->time*sim.slow_down;
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sim.speed_changed = false;
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syncCPU = startCPU;
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syncSim = d->time;
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sim.speedChanged = false;
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// clear old perturbations, apply new
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mju_zero(d->xfrc_applied, 6*m->nbody);
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@@ -195,22 +204,31 @@ void PhysicsLoop(mj::Simulate& sim) {
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mj_step(m, d);
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}
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// in-sync
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// in-sync: step until ahead of cpu
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else {
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// step while simtime lags behind cputime, and within safefactor
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while ((d->time*sim.slow_down-simsync) < (Glfw().glfwGetTime()-cpusync) &&
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(Glfw().glfwGetTime()-tmstart) < refreshfactor/sim.vmode.refreshRate) {
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bool measured = false;
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mjtNum prevSim = d->time;
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double refreshTime = simRefreshFraction/sim.refreshRate;
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// step while sim lags behind cpu and within refreshTime
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while ((d->time - syncSim)*slowdown < (Glfw().glfwGetTime()-syncCPU) &&
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(Glfw().glfwGetTime()-startCPU) < refreshTime) {
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// measure slowdown before first step
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if (!measured && elapsedSim) {
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sim.measuredSlowdown = elapsedCPU / elapsedSim;
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measured = true;
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}
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// clear old perturbations, apply new
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mju_zero(d->xfrc_applied, 6*m->nbody);
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sim.applyposepertubations(0); // move mocap bodies only
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sim.applyforceperturbations();
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// run mj_step
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mjtNum prevtm = d->time*sim.slow_down;
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// call mj_step
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mj_step(m, d);
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// break on reset
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if (d->time*sim.slow_down<prevtm) {
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// break if reset
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if (d->time < prevSim) {
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break;
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}
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}
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@@ -226,7 +244,7 @@ void PhysicsLoop(mj::Simulate& sim) {
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mj_forward(m, d);
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}
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}
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} // std::lock_guard<std::mutex>
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} // release std::lock_guard<std::mutex>
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}
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}
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} // namespace
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+32
-13
@@ -54,7 +54,6 @@ using ::mujoco::Glfw;
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//------------------------------------------- global -----------------------------------------------
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const int maxgeom = 5000; // preallocated geom array in mjvScene
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const int max_slow_down = 128; // maximum slow-down quotient
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const double zoom_increment = 0.02; // ratio of one click-wheel zoom increment to vertical extent
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// section ids
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@@ -476,11 +475,10 @@ void infotext(mj::Simulate* sim,
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solerr = mju_log10(mju_max(mjMINVAL, solerr));
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// prepare info text
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const std::string realtime_nominator = sim->slow_down == 1 ? "" : "1/";
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mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver \nFPS\nstack\nconbuf\nefcbuf");
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mju::sprintf_arr(content,
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"%-9.3f %s%d x\n%d (%d con)\n%.3f\n%.1f (%d it)\n%.0f\n%.3f\n%.3f\n%.3f",
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d->time, realtime_nominator.c_str(), sim->slow_down,
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"%-9.3f\n%d (%d con)\n%.3f\n%.1f (%d it)\n%.0f\n%.3f\n%.3f\n%.3f",
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d->time,
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d->nefc, d->ncon,
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sim->run ?
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d->timer[mjTIMER_STEP].duration / mjMAX(1, d->timer[mjTIMER_STEP].number) :
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@@ -1382,16 +1380,19 @@ void uiEvent(mjuiState* state) {
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break;
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case '-': // slow down
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if (sim->slow_down < max_slow_down && !state->shift) {
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sim->slow_down *= 2;
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sim->speed_changed = true;
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{
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int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
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if (sim->realTimeIndex < numclicks-1 && !state->shift) {
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sim->realTimeIndex++;
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sim->speedChanged = true;
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}
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}
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break;
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case '=': // speed up
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if (sim->slow_down > 1 && !state->shift) {
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sim->slow_down /= 2;
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sim->speed_changed = true;
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if (sim->realTimeIndex > 0 && !state->shift) {
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sim->realTimeIndex--;
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sim->speedChanged = true;
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}
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break;
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}
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@@ -1759,9 +1760,24 @@ void Simulate::render() {
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}
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// show realtime label
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if (this->run && this->slow_down != 1) {
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std::string realtime_label = "1/" + std::to_string(this->slow_down) + " x";
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mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, realtime_label.c_str(), nullptr, &this->con);
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if (this->run) {
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// get desired and actual percent-of-real-time
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float desiredRealtime = this->percentRealTime[this->realTimeIndex];
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float actualRealtime = 100 / this->measuredSlowdown;
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// check if real-time tracking is misaligned by more than than 10%
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bool misalignment = mju_abs(actualRealtime - desiredRealtime) > 0.1 * desiredRealtime;
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// display realtime overlay if not 100% or there is misalignment
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if (desiredRealtime != 100.0 || misalignment) {
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char overlay[30];
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if (misalignment) {
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std::snprintf(overlay, sizeof(overlay), "%g%% (%-.1f%%)", desiredRealtime, actualRealtime);
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} else {
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std::snprintf(overlay, sizeof(overlay), "%g%%", desiredRealtime);
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}
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mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect, overlay, nullptr, &this->con);
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}
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}
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// show ui 0
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@@ -1847,6 +1863,9 @@ void Simulate::renderloop() {
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// get videomode and save
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this->vmode = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
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// use videomode refreshrate if nonzero
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if (this->vmode.refreshRate) this->refreshRate = this->vmode.refreshRate;
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// create window
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this->window = Glfw().glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
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"Simulate", nullptr, nullptr);
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+30
-12
@@ -86,9 +86,7 @@ class MJSIMULATEAPI Simulate {
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std::mutex mtx;
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std::condition_variable cond_loadrequest;
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std::atomic_bool exitrequest = false;
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// option
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// options
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int spacing = 0;
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int color = 0;
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int font = 0;
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@@ -102,24 +100,43 @@ class MJSIMULATEAPI Simulate {
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int vsync = 1;
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int busywait = 0;
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// simulation
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int run = 1;
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// keyframe index
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int key = 0;
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std::atomic_int uiloadrequest = 0;
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// simulation
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int run = 1;
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// atomics for cross-thread messages
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std::atomic_bool exitrequest = false;
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std::atomic_bool droploadrequest = false;
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// 2: render thread asked to update its model
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// 1: showing "loading" label, about to load
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// 0: model loaded or no load requested.
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int loadrequest = 0;
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std::atomic_bool screenshotrequest = false;
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std::atomic_int uiloadrequest = 0;
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// loadrequest
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// 2: render thread asked to update its model
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// 1: showing "loading" label, about to load
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// 0: model loaded or no load requested.
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int loadrequest = 0;
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// strings
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char loadError[kMaxFilenameLength] = "";
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char dropfilename[kMaxFilenameLength] = "";
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char filename[kMaxFilenameLength] = "";
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char previous_filename[kMaxFilenameLength] = "";
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int slow_down = 1;
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bool speed_changed = true;
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// time synchronization
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int realTimeIndex = 0;
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bool speedChanged = true;
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float measuredSlowdown = 1.0;
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// logarithmically spaced realtime slow-down coefficients (percent)
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static constexpr float percentRealTime[] = {
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100, 80, 66, 50, 40, 33, 25, 20, 16, 13,
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10, 8, 6.6, 5.0, 4, 3.3, 2.5, 2, 1.6, 1.3,
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1, .8, .66, .5, .4, .33, .25, .2, .16, .13,
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.1
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};
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// control noise
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double ctrlnoisestd = 0.0;
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double ctrlnoiserate = 0.0;
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@@ -147,6 +164,7 @@ class MJSIMULATEAPI Simulate {
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// OpenGL rendering and UI
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GLFWvidmode vmode = {};
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int refreshRate = 60;
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int windowpos[2] = {0};
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int windowsize[2] = {0};
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mjrContext con = {};
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