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Use 2humanoid100.xml model in a benchmark test.

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PiperOrigin-RevId: 757784271
Change-Id: I7da11ab85ba9f5e023cdbe3c77d31224f3444ca5
This commit is contained in:
Yuval Tassa
2025-05-12 08:58:12 -07:00
committed by Copybara-Service
parent bd5cb88211
commit b53ed63b5f
3 changed files with 388 additions and 6 deletions
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test/benchmark/engine_util_sparse_benchmark_test.cc
+13 -6
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@@ -544,11 +544,15 @@ BM_transposeSparse_old(benchmark::State& state) {
BENCHMARK(BM_transposeSparse_old);
static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
static mjModel* m = LoadModelFromPath("humanoid/humanoid100.xml");
mjData* d = mj_makeData(m);
static mjModel* m =
LoadModelFromPath("../test/benchmark/testdata/2humanoid100.xml");
// force use of sparse matrices
// force use of sparse matrices, Newton solver, no islands
m->opt.jacobian = mjJAC_SPARSE;
m->opt.solver = mjSOL_NEWTON;
m->opt.enableflags &= ~mjENBL_ISLAND;
mjData* d = mj_makeData(m);
// warm-up rollout to get a typical state
while (d->time < 2) {
@@ -575,10 +579,13 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
// time benchmark
if (func) {
for (auto s : state) {
mju_sqrMatTDUncompressedInit(rowadr, m->nv);
mju_sqrMatTDSparseCount(rownnz, rowadr, m->nv,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
d->efc_JT_rownnz, d->efc_JT_rowadr,
d->efc_JT_colind, nullptr, d, 1);
// compute H = J'*D*J, uncompressed layout
for (auto s : state) {
// compute H = J'*D*J, compressed layout
func(H, d->efc_J, d->efc_JT, D, d->nefc, m->nv, rownnz, rowadr, colind,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,