Benchmark Example: ANYmal Standing

Overview

Headless timing run for the ANYmal PD-standing contact workload. It prints the simulation throughput and the average number of contacts.

Target

CMake target: anymal_standing_benchmark.

Run

Run it on one thread for benchmark comparisons:

OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 ./build-examples/examples/anymal_standing_benchmark --fast

On Windows, run anymal_standing_benchmark.exe instead. The example does not use RaisimServer.

Options

--steps N or --loops N sets the number of integration steps (default 1,000,000).
--fast or --quick caps the step count at 20,000 for smoke tests; an explicit --steps still takes precedence.
ANYMAL_STEPS sets the default step count from the environment.
RAISIM_ANYMAL_PHASE_PROFILE=1 also prints the average integrate1 and integrate2 time per step.

Details

Uses the packaged ANYmal URDF under rsc/anymal.
Disables sleeping so the measured workload stays active for the whole run.