Merge pull request #15 from dojo-sim/benchmark_example

Setup benchmarking

Author: janbruedigam

.github/workflows/benchmark.yml

@@ -0,0 +1,20 @@
+name: Run benchmarks
+
+on:
+  pull_request:
+
+jobs:
+  Benchmark:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@latest
+        with:
+          version: 1
+      # - uses: julia-actions/julia-buildpkg@latest
+      - name: Install dependencies
+        run: julia -e 'using Pkg; pkg"add PkgBenchmark BenchmarkCI@0.1"'
+      - name: Run benchmarks
+        run: julia -e 'using BenchmarkCI; BenchmarkCI.judge(retune=true,baseline="origin/main")' # retune sometimes necessary to avoid counting compile-time 
+      - name: Print judgement
+        run: julia -e 'using BenchmarkCI; BenchmarkCI.displayjudgement()'

.gitignore

@@ -1,3 +1,6 @@
+# Files from local benchmarking
+benchmark/tune.json
+
 # Files generated by invoking Julia with --code-coverage
 *.jl.cov
 *.jl.*.cov

benchmark/Project.toml

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+[deps]
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"

benchmark/benchmarks.jl

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+using BenchmarkTools
+
+SUITE = BenchmarkGroup()
+
+include("example_benchmark.jl")

benchmark/example_benchmark.jl

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+using Dojo
+
+###############################
+### Example benchmark for Atlas
+###############################
+mech = get_mechanism(:atlas, 
+    timestep=0.1, 
+    gravity=-9.81, 
+    friction_coefficient=0.5, 
+    damper=25.0, 
+    spring=1.0, 
+    contact_feet=true, 
+    contact_body=true, 
+    model_type=:simple)
+
+Dojo.initialize!(mech, :atlas_stance,
+    body_position=[0.0, 0.0, 1.0], 
+    body_orientation=[0.0, 0.2, 0.1])
+
+SUITE["atlas"] = @benchmarkable simulate!($mech, 2.5, opts=SolverOptions(rtol=1.0e-6, btol=1.0e-6)) samples=2
+
+
+###############################
+### Example benchmark for Pendulum
+###############################
+mechanism = get_mechanism(:pendulum,
+    timestep=0.01,
+    gravity=-9.81,
+    damper=5.0,
+    spring=0.0)
+
+function controller!(mechanism, t)
+    ## Target state
+    x_goal = [1.0 * π; 0.0]
+
+    ## Current state
+    x = get_minimal_state(mechanism)
+
+    ## Gains
+    K = [5.0 0.5] * 0.1
+
+    # Control inputs
+    u = -K * (x - x_goal)
+    set_input!(mechanism, u)
+end
+
+initialize!(mechanism, :pendulum,
+    angle=0.0 * π,
+    angular_velocity=0.0);
+
+SUITE["pendulum"] = @benchmarkable simulate!($mechanism, 2.0, $controller!) samples=2