Yuval Tassa
7c6f519879
Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers. Updates factorI, solveLD, and inertia benchmarks to remove legacy targets and only benchmark CSR. Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM instead of legacy solver. PiperOrigin-RevId: 942507341 Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f
83 lines
2.3 KiB
C++
83 lines
2.3 KiB
C++
// Copyright 2025 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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// A benchmark for comparing different implementations of mj_factorI.
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#include <benchmark/benchmark.h>
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#include <absl/base/attributes.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_core_smooth.h"
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#include "src/engine/engine_util_misc.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 benchmark
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static const int kNumBenchmarkSteps = 50;
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// ----------------------------- benchmark ------------------------------------
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static void BM_factorI(benchmark::State& state, bool coil) {
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static mjModel* m;
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if (coil) {
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m = LoadModelFromPath("plugin/elasticity/coil.xml");
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} else {
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m = LoadModelFromPath("humanoid/humanoid100.xml");
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}
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mjData* d = mj_makeData(m);
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mj_forward(m, d);
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// allocate inputs and outputs
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mj_markStack(d);
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// M: mass matrix in CSR format
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mjtNum* M = mj_stackAllocNum(d, m->nC);
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mju_copy(M, d->M, m->nC);
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// benchmark
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while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
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for (int i=0; i < kNumBenchmarkSteps; i++) {
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mju_copy(d->qLD, M, m->nC);
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mj_factorI(d->qLD, d->qLDiagInv, m->nv,
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m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
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}
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}
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// finalize
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mj_freeStack(d);
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mj_deleteData(d);
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mj_deleteModel(m);
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state.SetItemsProcessed(state.iterations());
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}
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void ABSL_ATTRIBUTE_NO_TAIL_CALL
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BM_factorI_COIL_CSR(benchmark::State& state) {
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MujocoErrorTestGuard guard;
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BM_factorI(state, /*coil=*/true);
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}
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BENCHMARK(BM_factorI_COIL_CSR);
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void ABSL_ATTRIBUTE_NO_TAIL_CALL
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BM_factorI_H100_CSR(benchmark::State& state) {
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MujocoErrorTestGuard guard;
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BM_factorI(state, /*coil=*/false);
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}
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BENCHMARK(BM_factorI_H100_CSR);
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} // namespace
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} // namespace mujoco
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