Kyle Bayes
a0c4c62654
PiperOrigin-RevId: 916025277 Change-Id: Icc000e5f81b79e0239359638d0eabc3e2ecd00e6
135 lines
4.0 KiB
C++
135 lines
4.0 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <array>
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#include <string>
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#include <vector>
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#include <benchmark/benchmark.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjthread.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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// number of steps to roll out before benchmarking
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static const int kNumWarmupSteps = 500;
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// number of steps to benchmark (before resetting state)
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static const int kBatchSize = 50;
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void BM_StepHumanoid200(benchmark::State& state) {
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int nthread = state.range(0);
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std::string label = std::to_string(nthread) + " thread(s)";
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auto model_path = GetTestDataFilePath("benchmark/testdata/humanoid200.xml");
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std::array<char, 1024> error;
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mjModel* model =
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mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
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model->opt.solver = mjSOL_CG; // use CG solver
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model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
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mjData* data = mj_makeData(model);
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mjThreadPool* threadpool = nullptr;
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if (nthread > 1) {
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threadpool = mju_threadPoolCreate(nthread);
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mju_bindThreadPool(data, threadpool);
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}
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// warm-up rollout to get a steady state
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for (int i = 0; i < kNumWarmupSteps; i++) {
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mj_step(model, data);
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}
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// save the initial state and step
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int spec = mjSTATE_INTEGRATION;
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int size = mj_stateSize(model, spec);
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std::vector<mjtNum> initial_state(size);
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mj_getState(model, data, initial_state.data(), spec);
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while (state.KeepRunningBatch(kBatchSize)) {
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// reset to the saved state
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mj_setState(model, data, initial_state.data(), spec);
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// run a batch of steps
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for (int i = 0; i < kBatchSize; i++) {
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mj_step(model, data);
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}
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}
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state.SetLabel(label);
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state.SetItemsProcessed(state.iterations());
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mj_deleteData(data);
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if (threadpool) {
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mju_threadPoolDestroy(threadpool);
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}
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}
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void BM_Step22Humanoids(benchmark::State& state) {
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int nthread = state.range(0);
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std::string label = std::to_string(nthread) + " thread(s)";
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auto model_path = GetModelPath("humanoid/22_humanoids.xml");
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std::array<char, 1024> error;
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mjModel* model =
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mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
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model->opt.solver = mjSOL_CG; // use CG solver
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model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
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mjData* data = mj_makeData(model);
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mjThreadPool* threadpool = nullptr;
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if (nthread > 1) {
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threadpool = mju_threadPoolCreate(nthread);
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mju_bindThreadPool(data, threadpool);
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}
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// warm-up rollout to get a steady state
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for (int i = 0; i < kNumWarmupSteps; i++) {
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mj_step(model, data);
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}
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// save the initial state and step
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int spec = mjSTATE_INTEGRATION;
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int size = mj_stateSize(model, spec);
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std::vector<mjtNum> initial_state(size);
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mj_getState(model, data, initial_state.data(), spec);
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std::vector<mjtNum> ctrl = GetCtrlNoise(model, kBatchSize);
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while (state.KeepRunningBatch(kBatchSize)) {
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// reset to the saved state
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mj_setState(model, data, initial_state.data(), spec);
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// run a batch of steps
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for (int i = 0; i < kBatchSize; i++) {
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mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
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mj_step(model, data);
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}
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}
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state.SetLabel(label);
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state.SetItemsProcessed(state.iterations());
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mj_deleteData(data);
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if (threadpool) {
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mju_threadPoolDestroy(threadpool);
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}
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}
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BENCHMARK(BM_StepHumanoid200)->Arg(1)->Arg(6);
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BENCHMARK(BM_Step22Humanoids)->Arg(1)->Arg(6);
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} // namespace
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} // namespace mujoco
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