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Remove cloth and rope composites and deprecate loop.

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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
This commit is contained in:
Alessio Quaglino
2023-09-25 03:37:42 -07:00
committed by Copybara-Service
parent cbb07a4c32
commit d3d46e16a4
14 changed files with 5709 additions and 448 deletions
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test/benchmark/engine_core_smooth_benchmark_test.cc
+2 -2
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@@ -25,7 +25,7 @@ namespace mujoco {
namespace {
// number of steps to roll out before benhmarking
static const int kNumWarmupSteps = 500;
static const int kNumWarmupSteps = 200;
// number of steps to benchmark
static const int kNumBenchmarkSteps = 50;
@@ -102,7 +102,7 @@ void solveM_baseline(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y) {
// ----------------------------- benchmark ------------------------------------
static void BM_solveLD(benchmark::State& state, bool new_function) {
static mjModel* m = LoadModelFromPath("composite/cloth.xml");
static mjModel* m = LoadModelFromPath("plugin/elasticity/coil.xml");
mjData* d = mj_makeData(m);
// warm-up rollout to get a typical state
test/benchmark/engine_util_sparse_benchmark_test.cc
+1 -1
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@@ -348,7 +348,7 @@ void ABSL_ATTRIBUTE_NOINLINE mulMatVecSparse_8(mjtNum* res,
// ----------------------------- benchmark ------------------------------------
static void BM_MatVecSparse(benchmark::State& state, int unroll) {
static mjModel* m = LoadModelFromPath("composite/cloth.xml");
static mjModel* m = LoadModelFromPath("plugin/elasticity/flag.xml");
mjData* d = mj_makeData(m);
// warm-up rollout to get a typical state
test/benchmark/parse_benchmark_test.cc
+5 -4
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@@ -48,13 +48,14 @@ static void run_parse_benchmark(const std::string xml_path, benchmark::State& st
// separately in CPU profiles (and don't get replaced with raw calls to
// run_parse_benchmark).
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCloth(benchmark::State& state) {
run_parse_benchmark(GetModelPath("composite/cloth.xml"), state);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCable(benchmark::State& state) {
run_parse_benchmark(GetModelPath("plugin/elasticity/flag.xml"), state);
}
BENCHMARK(BM_ParseCloth);
BENCHMARK(BM_ParseCable);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlag(benchmark::State& state) {
run_parse_benchmark(GetModelPath("flag/flag.xml"), state);
run_parse_benchmark(GetModelPath("../test/benchmark/testdata/flag.xml"),
state);
}
BENCHMARK(BM_ParseFlag);
test/benchmark/step_benchmark_test.cc
+5 -4
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@@ -79,12 +79,12 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
// separately in CPU profiles (and don't get replaced with raw calls to
// run_step_benchmark).
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCloth(benchmark::State& state) {
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCable(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = LoadModelFromPath("composite/cloth.xml");
static mjModel* model = LoadModelFromPath("plugin/elasticity/flag.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepCloth);
BENCHMARK(BM_StepCable);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepParticle(benchmark::State& state) {
MujocoErrorTestGuard guard;
@@ -95,7 +95,8 @@ BENCHMARK(BM_StepParticle);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlag(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = LoadModelFromPath("flag/flag.xml");
static mjModel* model =
LoadModelFromPath("../test/benchmark/testdata/flag.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepFlag);
test/benchmark/testdata/flag.xml
Vendored
+5582
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