add benchmark for MyoSim MyoArm

.gitignore

@@ -8,6 +8,7 @@ MUJOCO_LOG.TXT
 ## -------------------
 
 benchmark/mujoco_menagerie/
+benchmark/myo_sim
 
 
 ## Created directories

benchmark/benchmark.py

@@ -107,6 +107,17 @@ class Humanoid(benchmark.BenchmarkSuite):
   njmax = 64
 
 
+class MyoArm(benchmark.BenchmarkSuite):
+  """MyoArm."""
+
+  path = "myo_sim/arm/myoarm.xml"
+  params = benchmark.BenchmarkSuite.params + ("step.euler",)
+  batch_size = 8192
+  nconmax = 16
+  njmax = 48
+  overrides = {"opt.ccd_iterations": 50}  # default 35 is too low
+
+
 class ThreeHumanoids(benchmark.BenchmarkSuite):
   """Three MuJoCo humanoids on an infinite plane.
 
@@ -130,4 +141,5 @@ class ThreeHumanoids(benchmark.BenchmarkSuite):
 Cloth.setup_cache = lambda s: benchmark.BenchmarkSuite.setup_cache(s)
 FrankaEmikaPanda.setup_cache = lambda s: benchmark.BenchmarkSuite.setup_cache(s)
 Humanoid.setup_cache = lambda s: benchmark.BenchmarkSuite.setup_cache(s)
+MyoArm.setup_cache = lambda s: benchmark.BenchmarkSuite.setup_cache(s)
 ThreeHumanoids.setup_cache = lambda s: benchmark.BenchmarkSuite.setup_cache(s)

benchmark/myosim/README.md

@@ -0,0 +1,12 @@
+# Benchmark musculoskeletal environment from MyoSim
+
+[MyoSim](https://github.com/MyoHub/myo_sim)
+
+- [MyoArm](https://github.com/MyoHub/myo_sim/tree/main/arm)
+
+
+## Get MyoSim from GitHub
+
+```bash
+python get_myosim.py
+```

benchmark/myosim/get_myosim.py

@@ -0,0 +1,68 @@
+# Copyright 2025 The Newton Developers
+#
+# 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.
+# ==============================================================================
+
+"""Get MyoSim from GitHub."""
+
+import subprocess
+import sys
+from typing import Sequence
+
+from absl import app
+from etils import epath
+
+_MYOSIM_PATH = epath.Path(__file__).parent.parent / "myo_sim"
+
+_MYOSIM_COMMIT_SHA = "33f3ded946f55adbdcf963c99999587aadaf975f"
+
+
+# TODO(team): shared utility with benchmark/kitchen/populate_scene._clone?
+def _clone(repo_url: str, target_path: str, commit_sha: str) -> None:
+  """Clone a git repo with progress bar."""
+  process = subprocess.Popen(
+    ["git", "clone", "--progress", repo_url, target_path],
+    stdout=subprocess.PIPE,
+    stderr=subprocess.PIPE,
+    universal_newlines=True,
+  )
+
+  while True:
+    # Read output line by line.
+    if not process.stderr.readline() and process.poll() is not None:
+      break
+
+  if process.returncode != 0:
+    raise subprocess.CalledProcessError(process.returncode, ["git", "clone"])
+
+  # checkout specific commit
+  print(f"Checking out commit {commit_sha}")
+  subprocess.run(["git", "-C", target_path, "checkout", commit_sha], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+
+
+def main(argv: Sequence[str]):
+  """Ensure MyoSim exists, downloading it if necessary."""
+  print(f"myosim path: {_MYOSIM_PATH}")
+  if not _MYOSIM_PATH.exists():
+    print("MyoSim not found. Downloading...")
+
+    try:
+      _clone("https://github.com/MyoHub/myo_sim.git", str(_MYOSIM_PATH), _MYOSIM_COMMIT_SHA)
+      print("Successfully downloaded MyoSim")
+    except subprocess.CalledProcessError as e:
+      print(f"Error downloading MyoSim: {e}", file=sys.stderr)
+      raise
+
+
+if __name__ == "__main__":
+  app.run(main)

mujoco_warp/_src/benchmark.py

@@ -210,6 +210,7 @@ class BenchmarkSuite:
   sample_time = 0
   repeat = 1
   replay = ""
+  overrides = {}
 
   def setup_cache(self):
     module = importlib.import_module(self.__module__)
@@ -237,6 +238,7 @@ def setup_cache(self):
 
     free_before = wp.get_device().free_memory
     m = io.put_model(mjm)
+    io.override_model(m, self.overrides)
     d = io.put_data(mjm, mjd, self.batch_size, self.nconmax, self.njmax)
     free_after = wp.get_device().free_memory