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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// A benchmark which steps various models without rendering, and measures speed.
#include <array>
#include <benchmark/benchmark.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/base/attributes.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
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;
mjtNum radius = 1.0;
mjtNum* range = m->actuator_ctrlrange + 2 * i;
if (m->actuator_ctrllimited[i]) {
center = (range[1] + range[0]) / 2;
radius = (range[1] - range[0]) / 2;
}
radius *= 0.01;
d->ctrl[i] = center + radius * (2 * mju_Halton(step, i + 2) - 1);
}
}
static void assert_model_not_null(mjModel* model,
const std::array<char, 1024>& error) {
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
}
static mjModel* load_model(const char* model_path) {
const std::string xml_path = GetModelPath(model_path);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
assert_model_not_null(model, error);
return model;
}
static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
mjData* data = mj_makeData(model);
// 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
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
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());
}
// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
// 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) {
MujocoErrorTestGuard guard;
static mjModel* model = load_model("composite/cloth.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepCloth);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = load_model("humanoid/humanoid.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepHumanoid);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid100(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = load_model("humanoid100/humanoid100.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepHumanoid100);
} // namespace
} // namespace mujoco
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