Implementation:Google deepmind Mujoco Platform Sim Profiler
| Knowledge Sources | |
|---|---|
| Domains | Profiling, GUI |
| Last Updated | 2026-02-15 04:00 GMT |
Overview
Collects and displays simulation performance metrics (CPU timers and dimensionality statistics) as real-time ImGui/ImPlot charts.
Description
sim_profiler.cc implements the SimProfiler class which maintains rolling-window buffers (200 frames) of simulation performance data. It tracks CPU timing breakdowns (total, collision, prepare, solve, other) from MuJoCo's mjTIMER counters, and dimensionality statistics (DOF, body count, constraints, sqrt NNZ, contacts, iterations) from mjData. The Update method computes per-step averages by dividing timer durations by step counts, handling the case where the simulation is paused (zero step count). The Clear method resets all buffers to zero.
Usage
Used by Studio's profiler panel to display real-time simulation performance. Updated each frame with current mjModel and mjData, the profiler data is rendered as stacked area charts via ImPlot showing where compute time is spent.
Code Reference
Source Location
- Repository: Google_deepmind_Mujoco
- File: src/experimental/platform/sim_profiler.cc
- Lines: 1-172
Key Functions
SimProfiler::SimProfiler();
void SimProfiler::Clear();
void SimProfiler::Update(const mjModel* model, const mjData* data);
// Tracks: cpu_total_, cpu_collision_, cpu_prepare_, cpu_solve_, cpu_other_
// Tracks: dim_dof_, dim_body_, dim_constraint_, dim_sqrt_nnz_, dim_contact_, dim_iteration_
Import
#include "experimental/platform/sim_profiler.h"
I/O Contract
Inputs
| Name | Type | Required | Description |
|---|---|---|---|
| model | const mjModel* | Yes | MuJoCo model for dimensionality data |
| data | const mjData* | Yes | MuJoCo data with timer and constraint statistics |
Outputs
| Name | Type | Description |
|---|---|---|
| CPU timers | std::vector<mjtNum> | Rolling buffers of per-step CPU timing (total, collision, prepare, solve, other) |
| Dimensionality | std::vector<mjtNum> | Rolling buffers of simulation dimensions (DOF, bodies, constraints, contacts, etc.) |