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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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python/mujoco/specs.cc
+8
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@@ -55,6 +55,7 @@ using MjDouble3 = Eigen::Map<Eigen::Vector3d>;
using MjDouble4 = Eigen::Map<Eigen::Vector4d>;
using MjDouble5 = Eigen::Map<Eigen::Matrix<double, 5, 1>>;
using MjDouble6 = Eigen::Map<Eigen::Matrix<double, 6, 1>>;
using MjDouble9 = Eigen::Map<Eigen::Matrix<double, 9, 1>>;
using MjDouble10 = Eigen::Map<Eigen::Matrix<double, 10, 1>>;
using MjDouble11 = Eigen::Map<Eigen::Matrix<double, 11, 1>>;
using MjDoubleVec = Eigen::Map<Eigen::VectorXd>;
@@ -69,6 +70,7 @@ using MjDoubleRef3 = Eigen::Ref<const Eigen::Vector3d>;
using MjDoubleRef4 = Eigen::Ref<const Eigen::Vector4d>;
using MjDoubleRef5 = Eigen::Ref<const Eigen::Matrix<double, 5, 1>>;
using MjDoubleRef6 = Eigen::Ref<const Eigen::Matrix<double, 6, 1>>;
using MjDoubleRef9 = Eigen::Ref<const Eigen::Matrix<double, 9, 1>>;
using MjDoubleRef10 = Eigen::Ref<const Eigen::Matrix<double, 10, 1>>;
using MjDoubleRef11 = Eigen::Ref<const Eigen::Matrix<double, 11, 1>>;
using MjDoubleRefVec = Eigen::Ref<const Eigen::VectorXd>;
@@ -461,6 +463,12 @@ PYBIND11_MODULE(_specs, m) {
mjSpec.def_property_readonly("_address", [](const MjSpec& self) {
return reinterpret_cast<uintptr_t>(self.ptr);
});
mjSpec.def_property_readonly(
"timer",
[](MjSpec& self) -> MjDouble9 {
return MjDouble9(const_cast<double*>(mjs_getTimer(self.ptr)));
},
py::return_value_policy::reference_internal);
mjSpec.def_property(
"copy_during_attach",
[](MjSpec& self) {