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Add compiler timing diagnostics to mjsCompiler, printed by compile.cc

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For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs

```
Compile 1 (cold cache):
  total:      317.2 ms
  assets:     284.8 ms (wall clock)
    load:     616.1 ms
    hull:      26.4 ms
    poly:     137.8 ms
    inert:    177.8 ms
    bvh:      568.2 ms
    octr:       1.6 ms
    tex:       25.3 ms
  other:       32.4 ms

Compile 2 (warm cache):
  total:       79.9 ms
  assets:      54.5 ms (wall clock)
    load:     888.5 ms
    hull:       0.0 ms
    poly:       0.0 ms
    inert:      0.0 ms
    bvh:        0.0 ms
    octr:       0.0 ms
    tex:       21.4 ms
  other:       25.3 ms
```

PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
This commit is contained in:
Yuval Tassa
2026-05-19 08:27:35 -07:00
committed by Copybara-Service
parent f712eed4ce
commit bdf00966f9
23 changed files with 309 additions and 43 deletions
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doc/programming/samples.rst
+8 -5
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@@ -120,16 +120,19 @@ Windows power plan so that the minimum processor state is 100%.
`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This code sample evokes the built-in parser and compiler. It implements all possible model conversions from (MJCF, URDF,
MJB) format to (MJCF, MJB, TXT) format. Models saved as MJCF use a canonical subset of our format as described in the
:doc:`../modeling` chapter, and therefore MJCF-to-MJCF conversion will generally result in a different file.
This code sample invokes the built-in parser and compiler. It implements all possible model conversions from (MJCF,
URDF, MJB) format to (MJCF, MJB, TXT) format. Models saved as MJCF use a canonical subset of our format as described in
the :doc:`../modeling` chapter, and therefore MJCF-to-MJCF conversion will generally result in a different file.
The TXT format is a human-readable road-map to the model. It cannot be loaded by MuJoCo, but can be a very useful aid
during model development. It is in one-to-one correspondence with the compiled mjModel. Note also that one can use the
function :ref:`mj_printData` to create a text file which is in one-to-one correspondence
with mjData, although this is not done by the code sample.
If the input file is MJCF and the output file is empty, compilation is performed and timed twice to measure the impact
of the compiler's :ref:`asset cache<Assetcache>`.
If the input file is MJCF or URDF and the output file is empty, compilation is performed twice to measure the impact
of the compiler's :ref:`asset cache<Assetcache>`. A detailed timing breakdown is printed for each compilation, showing
total time, asset processing time (wall clock), and per-category CPU times for meshes and textures. These timings are
read from the :ref:`mjtCTimer` fields via :ref:`mjs_getTimer`, which can be read programmatically
after any call to :ref:`mj_compile`.
.. _saBasic: