Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Adds a benchmark for IrisInConfigurationSpace #19771

Merged
merged 1 commit into from
Jul 23, 2023
+474 −4
Merged

Adds a benchmark for IrisInConfigurationSpace #19771

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 11 additions & 0 deletions examples/manipulation_station/BUILD.bazel
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,17 @@ load("//tools/skylark:test_tags.bzl", "vtk_test_tags")

models_filegroup(
name = "models",
extra_srcs = [
"@drake_models//:manipulation_station/bin.mtl",
"@drake_models//:manipulation_station/bin.obj",
"@drake_models//:manipulation_station/bin.png",
"@drake_models//:manipulation_station/table_wide.mtl",
"@drake_models//:manipulation_station/table_wide.obj",
"@drake_models//:manipulation_station/table_wide.png",
"@drake_models//:manipulation_station/shelves.mtl",
"@drake_models//:manipulation_station/shelves.obj",
"@drake_models//:manipulation_station/shelves.png",
],
visibility = ["//visibility:public"],
)

Expand Down
77 changes: 77 additions & 0 deletions examples/manipulation_station/models/bin2.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,77 @@
<?xml version="1.0"?>
<sdf version="1.7">
<model name="bin_model">
<!--
Axes:
+X - Pointing towards front
+Y - Pointing to left side
+Z - Up
Origin:
(0, 0, 0) at the center bottom of the bin
-->
<link name="bin_base">
<inertial>
<mass>18.70</mass>
<inertia>
<ixx>0.79</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.53</iyy>
<iyz>0</iyz>
<izz>1.2</izz>
</inertia>
</inertial>
<visual name="visual">
<pose>0 0 0 0 0 1.570796</pose>
<geometry>
<mesh>
<uri>package://drake_models/manipulation_station/bin.obj</uri>
</mesh>
</geometry>
</visual>
<collision name="front">
<pose>0.2025 0 0.105 0 0 0</pose>
<geometry>
<box>
<size>0.015 0.56 0.21</size>
</box>
</geometry>
</collision>
<collision name="back">
<pose>-0.2025 0 0.105 0 0 0</pose>
<geometry>
<box>
<size>0.015 0.56 0.21</size>
</box>
</geometry>
</collision>
<collision name="left">
<pose>0 0.2725 0.105 0 0 0</pose>
<geometry>
<box>
<size>0.42 0.015 0.21</size>
</box>
</geometry>
</collision>
<collision name="right">
<pose>0 -0.2725 0.105 0 0 0</pose>
<geometry>
<box>
<size>0.42 0.015 0.21</size>
</box>
</geometry>
</collision>
<collision name="bottom">
<pose>0.0 0.0 0.0075 0 0 0</pose>
<geometry>
<box>
<size>0.42 0.56 0.015</size>
</box>
</geometry>
</collision>
</link>
<frame name="bin_front_top_center">
<pose relative_to="bin_base">0.22 0 0.21 0 0 0</pose>
</frame>
</model>
</sdf>
71 changes: 71 additions & 0 deletions examples/manipulation_station/models/shelves.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,71 @@
<?xml version="1.0"?>
<sdf version="1.7">
<model name="shelves">
<link name="shelves_body">
<visual name="shelves_visual">
<pose> 0 0 0 0 0 3.14159</pose>
<geometry>
<mesh>
<uri>package://drake_models/manipulation_station/shelves.obj</uri>
</mesh>
</geometry>
</visual>
<collision name="right_wall">
<pose> 0 0.292 0 0 0 0</pose>
<geometry>
<box>
<size>0.3 0.016 0.783</size>
</box>
</geometry>
</collision>
<collision name="left_wall">
<pose> 0 -0.292 0 0 0 0</pose>
<geometry>
<box>
<size>0.3 0.016 0.783</size>
</box>
</geometry>
</collision>
<collision name="top">
<pose> 0 0 0.3995 0 0 0</pose>
<geometry>
<box>
<size>0.3 0.6 0.016</size>
</box>
</geometry>
</collision>
<collision name="shelf_lower">
<pose> 0 0 -0.13115 0 0 0</pose>
<geometry>
<box>
<size>0.3 0.6 0.016</size>
</box>
</geometry>
</collision>
<collision name="shelf_upper">
<pose> 0 0 0.13115 0 0 0</pose>
<geometry>
<box>
<size>0.3 0.6 0.016</size>
</box>
</geometry>
</collision>
<collision name="bottom">
<pose> 0 0 -0.3995 0 0 0</pose>
<geometry>
<box>
<size>0.3 0.6 0.016</size>
</box>
</geometry>
</collision>
<collision name="back">
<pose> -0.142 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.016 0.6 0.783</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>
22 changes: 22 additions & 0 deletions examples/manipulation_station/models/table_wide.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
<?xml version="1.0"?>
<sdf version="1.7">
<model name="table">
<link name="table_body">
<visual name="table_visual">
<geometry>
<mesh>
<uri>package://drake_models/manipulation_station/table_wide.obj</uri>
</mesh>
</geometry>
</visual>
<collision name="table_top">
<pose> 0 0 -0.05 0 0 0</pose>
<geometry>
<box>
<size>1.5 2.1875 0.1</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>
27 changes: 27 additions & 0 deletions geometry/benchmarking/BUILD.bazel
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,33 @@ load("//tools/skylark:test_tags.bzl", "vtk_test_tags")

package(default_visibility = ["//visibility:private"])

drake_cc_googlebench_binary(
name = "iris_in_configuration_space_benchmarks",
srcs = ["iris_in_configuration_space_benchmarks.cc"],
add_test_rule = True,
data = [
"//examples/manipulation_station:models",
"//manipulation/models/iiwa_description:models",
"//manipulation/models/wsg_50_description:models",
],
test_args = [
"--test",
],
test_timeout = "moderate",
deps = [
"//geometry/optimization:iris",
"//multibody/inverse_kinematics",
"//multibody/plant",
"//tools/performance:fixture_common",
"//tools/performance:gflags_main",
],
)

drake_py_experiment_binary(
name = "iris_in_configuration_space_experiment",
googlebench_binary = ":iris_in_configuration_space_benchmarks",
)

drake_cc_googlebench_binary(
name = "mesh_intersection_benchmark",
srcs = ["mesh_intersection_benchmark.cc"],
Expand Down
20 changes: 18 additions & 2 deletions geometry/benchmarking/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,9 @@ Runtime Performance Benchmarks for Geometry Operations

## render

$ bazel run //geometry/benchmarking:render_experiment -- --output_dir=foo
```
$ bazel run //geometry/benchmarking:render_experiment -- --output_dir=foo
```

Benchmark program to help characterize the relative costs of different
RenderEngine implementations with varying scene complexity and rendering. It is
Expand All @@ -15,13 +17,27 @@ renderer choice.

## mesh_intersection

$ bazel run //geometry/benchmarking:mesh_intersection_experiment -- --output_dir=foo
```
$ bazel run //geometry/benchmarking:mesh_intersection_experiment -- --output_dir=foo
```

Benchmark program to evaluate bounding volume hierarchy impact on mesh-mesh
intersections across varying mesh attributes and overlaps. It is targeted toward
developers during the process of optimizing the performance of hydroelastic
contact and may be removed once sufficient work has been done in that effort.

## iris_in_configuration_space

Note: This benchmark requires [SNOPT](https://drake.mit.edu/bazel.html#snopt).

```
$ bazel run //geometry/benchmarking:iris_in_configuration_space_experiment -- --output_dir=foo
```

This benchmark is provided to help understand the implications of changes the
will impact the performance of the IrisInConfigurationSpace algorithm. It
should grow to include a number of our most important/relevant examples.

# Additional information

Documentation for command line arguments is here:
Expand Down
Loading