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Modify step_benchmark_test.cc to benchmark a fixed, 50-step sequence.

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- Also remove multithreaded benchmark results.

PiperOrigin-RevId: 454102292
Change-Id: I5bd5fb1642adc547e695d2d3553bcaf0cf5c7bed
This commit is contained in:
Yuval Tassa
2022-06-10 00:52:00 -07:00
committed by Copybara-Service
parent 6ead14614f
commit d8880e9a12
1 changed files with 37 additions and 5 deletions
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test/benchmark/step_benchmark_test.cc
+37 -5
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@@ -30,6 +30,18 @@ namespace {
using ::testing::NotNull;
// number of steps to roll out before benhmarking
static const int kNumWarmupSteps = 500;
// number of steps to benchmark
static const int kNumBenchmarkSteps = 50;
// copy array into vector
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
return std::vector<mjtNum>(array, array + n);
}
static void add_ctrl_noise(const mjModel* m, mjData* d, int step) {
for (int i = 0; i < m->nu; i++) {
mjtNum center = 0.0;
@@ -59,13 +71,34 @@ static mjModel* load_model(const char* model_path) {
static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
mjData* data = mj_makeData(model);
int i = 0;
for (auto s : state) {
add_ctrl_noise(model, data, i++);
// warm-up rollout to get a typcal state
for (int i=0; i < kNumWarmupSteps; i++) {
add_ctrl_noise(model, data, i);
mj_step(model, data);
}
// save state
std::vector<mjtNum> qpos = AsVector(data->qpos, model->nq);
std::vector<mjtNum> qvel = AsVector(data->qvel, model->nv);
std::vector<mjtNum> act = AsVector(data->act, model->na);
std::vector<mjtNum> warmstart = AsVector(data->qacc_warmstart, model->nv);
// reset state, benchmark subsequent kNumBenchmarkSteps steps
for (auto s : state) {
mju_copy(data->qpos, qpos.data(), model->nq);
mju_copy(data->qvel, qvel.data(), model->nv);
mju_copy(data->act, act.data(), model->na);
mju_copy(data->qacc_warmstart, warmstart.data(), model->nv);
for (int i=0; i < kNumBenchmarkSteps; i++) {
add_ctrl_noise(model, data, i+kNumWarmupSteps);
mj_step(model, data);
}
}
// finalize
mj_deleteData(data);
state.SetItemsProcessed(state.iterations());
state.SetItemsProcessed(kNumBenchmarkSteps * state.iterations());
}
// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
@@ -85,7 +118,6 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid(benchmark::State& state) {
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepHumanoid);
BENCHMARK(BM_StepHumanoid)->ThreadRange(2, 16);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid100(benchmark::State& state) {
MujocoErrorTestGuard guard;