File size: 3,001 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 | // Copyright 2025 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 for comparing different implementations of mj_factorI.
#include <benchmark/benchmark.h>
#include <absl/base/attributes.h>
#include <mujoco/mjdata.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_core_smooth.h"
#include "src/engine/engine_util_misc.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
// number of steps to benchmark
static const int kNumBenchmarkSteps = 50;
// ----------------------------- benchmark ------------------------------------
static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
static mjModel* m;
if (coil) {
m = LoadModelFromPath("plugin/elasticity/coil.xml");
} else {
m = LoadModelFromPath("humanoid/humanoid100.xml");
}
mjData* d = mj_makeData(m);
mj_forward(m, d);
// allocate inputs and outputs
mj_markStack(d);
// M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC);
mju_gather(M, d->qM, d->mapM2M, m->nC);
// LDlegacy: legacy LD matrix (size nM)
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
if (legacy) {
mj_factorI_legacy(m, d, d->qM, LDlegacy, d->qLDiagInv);
} else {
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->M_rownnz, d->M_rowadr, d->M_colind);
}
}
}
// finalize
mj_freeStack(d);
mj_deleteData(d);
mj_deleteModel(m);
state.SetItemsProcessed(state.iterations());
}
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_COIL_LEGACY(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/true, /*coil=*/true);
}
BENCHMARK(BM_factorI_COIL_LEGACY);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_COIL_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/false, /*coil=*/true);
}
BENCHMARK(BM_factorI_COIL_CSR);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_H100_LEGACY(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/true, /*coil=*/false);
}
BENCHMARK(BM_factorI_H100_LEGACY);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_factorI_H100_CSR(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_factorI(state, /*legacy=*/false, /*coil=*/false);
}
BENCHMARK(BM_factorI_H100_CSR);
} // namespace
} // namespace mujoco
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