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Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores).

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PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
This commit is contained in:
Alessio Quaglino
2022-11-08 08:38:04 -08:00
committed by Copybara-Service
parent 9ffde761e8
commit 9fc9823a8c
9 changed files with 228 additions and 54 deletions
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test/benchmark/step_benchmark_test.cc
+5 -35
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@@ -28,53 +28,23 @@
namespace mujoco {
namespace {
using ::testing::NotNull;
// number of steps to roll out before benhmarking
static const int kNumWarmupSteps = 500;
// number of steps to benchmark
static const int kNumBenchmarkSteps = 50;
// copy array into vector
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
return std::vector<mjtNum>(array, array + n);
}
static void add_ctrl_noise(const mjModel* m, mjData* d, int step) {
for (int i = 0; i < m->nu; i++) {
mjtNum center = 0.0;
mjtNum radius = 1.0;
mjtNum* range = m->actuator_ctrlrange + 2 * i;
if (m->actuator_ctrllimited[i]) {
center = (range[1] + range[0]) / 2;
radius = (range[1] - range[0]) / 2;
}
radius *= 0.01;
d->ctrl[i] = center + radius * (2 * mju_Halton(step, i + 2) - 1);
}
}
static void assert_model_not_null(mjModel* model,
const std::array<char, 1024>& error) {
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
}
static mjModel* load_model(const char* model_path) {
const std::string xml_path = GetModelPath(model_path);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
assert_model_not_null(model, error);
return model;
}
static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
mjData* data = mj_makeData(model);
// warm-up rollout to get a typcal state
for (int i=0; i < kNumWarmupSteps; i++) {
add_ctrl_noise(model, data, i);
AddCtrlNoise(model, data, i);
mj_step(model, data);
}
// save state
@@ -91,7 +61,7 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
mju_copy(data->qacc_warmstart, warmstart.data(), model->nv);
for (int i=0; i < kNumBenchmarkSteps; i++) {
add_ctrl_noise(model, data, i+kNumWarmupSteps);
AddCtrlNoise(model, data, i+kNumWarmupSteps);
mj_step(model, data);
}
}
@@ -107,21 +77,21 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCloth(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = load_model("composite/cloth.xml");
static mjModel* model = LoadModelFromPath("composite/cloth.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepCloth);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = load_model("humanoid/humanoid.xml");
static mjModel* model = LoadModelFromPath("humanoid/humanoid.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepHumanoid);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid100(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = load_model("humanoid100/humanoid100.xml");
static mjModel* model = LoadModelFromPath("humanoid100/humanoid100.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepHumanoid100);