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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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test/user/user_api_test.cc
+27
View File
@@ -3378,5 +3378,32 @@ TEST_F(MujocoTest, UserValue) {
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, CompilerTimers) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" width="300" height="300" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid"/>
</asset>
<worldbody>
<geom type="plane" size="1 1 1" material="grid"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjModel* model = mj_compile(spec, 0);
ASSERT_THAT(model, NotNull());
EXPECT_GT(mjs_getTimer(spec)[mjCTIMER_TOTAL], 0);
EXPECT_GT(mjs_getTimer(spec)[mjCTIMER_ASSETS], 0);
EXPECT_GT(mjs_getTimer(spec)[mjCTIMER_TEXTURE], 0);
mj_deleteModel(model);
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco