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Add new mju_threadpool API function, and delete old threading API.

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PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
This commit is contained in:
Kyle Bayes
2026-05-28 10:09:07 -07:00
committed by Copybara-Service
parent a22fc2423a
commit b935d4153c
47 changed files with 576 additions and 1755 deletions
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test/benchmark/thread_performance_test.cc
+9 -17
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@@ -17,7 +17,6 @@
#include <benchmark/benchmark.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
@@ -30,6 +29,9 @@ static const int kNumWarmupSteps = 500;
// number of steps to benchmark (before resetting state)
static const int kBatchSize = 50;
// number of threads to test
static const int kNumThreads = 6;
void BM_StepHumanoid200(benchmark::State& state) {
int nthread = state.range(0);
std::string label = std::to_string(nthread) + " thread(s)";
@@ -43,10 +45,8 @@ void BM_StepHumanoid200(benchmark::State& state) {
model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = nullptr;
if (nthread > 1) {
threadpool = mju_threadPoolCreate(nthread);
mju_bindThreadPool(data, threadpool);
if (nthread) {
mju_threadpool(data, nthread);
}
// warm-up rollout to get a steady state
@@ -73,9 +73,6 @@ void BM_StepHumanoid200(benchmark::State& state) {
state.SetLabel(label);
state.SetItemsProcessed(state.iterations());
mj_deleteData(data);
if (threadpool) {
mju_threadPoolDestroy(threadpool);
}
}
void BM_Step22Humanoids(benchmark::State& state) {
@@ -90,10 +87,8 @@ void BM_Step22Humanoids(benchmark::State& state) {
model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = nullptr;
if (nthread > 1) {
threadpool = mju_threadPoolCreate(nthread);
mju_bindThreadPool(data, threadpool);
if (nthread) {
mju_threadpool(data, nthread);
}
// warm-up rollout to get a steady state
@@ -123,12 +118,9 @@ void BM_Step22Humanoids(benchmark::State& state) {
state.SetLabel(label);
state.SetItemsProcessed(state.iterations());
mj_deleteData(data);
if (threadpool) {
mju_threadPoolDestroy(threadpool);
}
}
BENCHMARK(BM_StepHumanoid200)->Arg(1)->Arg(6);
BENCHMARK(BM_Step22Humanoids)->Arg(1)->Arg(6);
BENCHMARK(BM_StepHumanoid200)->Arg(0)->Arg(kNumThreads);
BENCHMARK(BM_Step22Humanoids)->Arg(0)->Arg(kNumThreads);
} // namespace
} // namespace mujoco