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Add cache hit benchmark to parsing benchmarks.

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PiperOrigin-RevId: 810495543
Change-Id: I8c10806a091f870266f2c1194b39159c1f3105e0
This commit is contained in:
Sam Haves
2025-09-23 10:39:10 -07:00
committed by Copybara-Service
parent d71d42a374
commit e3377ceca3
4 changed files with 19762 additions and 0 deletions
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test/benchmark/parse_benchmark_test.cc
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@@ -94,4 +94,11 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
BENCHMARK(BM_ParseHumanoid100);
} // namespace
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCacheHits(benchmark::State& state) {
run_parse_benchmark(
GetModelPath("../test/benchmark/testdata/cache_hits.xml"), state);
}
BENCHMARK(BM_ParseCacheHits);
} // namespace mujoco
test/benchmark/testdata/cache_hits.xml
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@@ -0,0 +1,46 @@
<mujoco>
<asset>
<texture name="tex1" type="2d" file="noise.png"/>
<texture name="tex2" type="2d" file="noise.png"/>
<texture name="tex3" type="2d" file="noise.png"/>
<texture name="tex4" type="2d" file="noise.png"/>
<texture name="tex5" type="2d" file="noise.png"/>
<texture name="tex6" type="2d" hflip="true" vflip="true" file="noise.png"/>
<texture name="tex7" type="2d" hflip="true" vflip="true" file="noise.png"/>
<texture name="tex8" type="2d" hflip="true" vflip="true" file="noise.png"/>
<texture name="tex9" type="2d" hflip="true" vflip="true" file="noise.png"/>
<texture name="tex10" type="2d" hflip="true" vflip="true" file="noise.png"/>
<material name="mat1" texture="tex1"/>
<material name="mat2" texture="tex2"/>
<material name="mat3" texture="tex3"/>
<material name="mat4" texture="tex4"/>
<material name="mat5" texture="tex5"/>
<material name="mat6" texture="tex6"/>
<material name="mat7" texture="tex7"/>
<material name="mat8" texture="tex8"/>
<material name="mat9" texture="tex9"/>
<material name="mat10" texture="tex10"/>
<mesh name="mesh1" file="highres_sphere.obj"/>
<mesh name="mesh2" file="highres_sphere.obj"/>
<mesh name="mesh3" file="highres_sphere.obj"/>
<mesh name="mesh4" file="highres_sphere.obj"/>
<mesh name="mesh5" file="highres_sphere.obj"/>
<mesh name="mesh6" file="highres_sphere.obj"/>
<mesh name="mesh7" file="highres_sphere.obj"/>
<mesh name="mesh8" file="highres_sphere.obj"/>
<mesh name="mesh9" file="highres_sphere.obj"/>
<mesh name="mesh10" file="highres_sphere.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="mesh1" material="mat1" pos="0 0 0"/>
<geom type="mesh" mesh="mesh2" material="mat2" pos="0.3 0 0"/>
<geom type="mesh" mesh="mesh3" material="mat3" pos="0.6 0 0"/>
<geom type="mesh" mesh="mesh4" material="mat4" pos="0.9 0 0"/>
<geom type="mesh" mesh="mesh5" material="mat5" pos="1.2 0 0"/>
<geom type="mesh" mesh="mesh6" material="mat6" pos="0 0.3 0"/>
<geom type="mesh" mesh="mesh7" material="mat7" pos="0.3 0.3 0"/>
<geom type="mesh" mesh="mesh8" material="mat8" pos="0.6 0.3 0"/>
<geom type="mesh" mesh="mesh9" material="mat9" pos="0.9 0.3 0"/>
<geom type="mesh" mesh="mesh10" material="mat10" pos="1.2 0.3 0"/>
</worldbody>
</mujoco>
test/benchmark/testdata/highres_sphere.obj
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test/benchmark/testdata/noise.png
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