anymal_standing_benchmark

anymal_standing_benchmark is a headless timing-oriented example for the ANYmal PD-standing contact workload. It reports simulation throughput and the average number of contacts.

Installed executable: anymal_standing_benchmark.

Run it single-threaded for benchmark comparisons:

OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/anymal_standing_benchmark --fast

On Windows, run anymal_standing_benchmark.exe instead.

Useful controls:

• --steps N or --loops N changes the number of integration steps.

• --fast or --quick caps the default run at 20000 steps for smoke tests.

• ANYMAL_STEPS sets the default step count from the environment.

• RAISIM_ANYMAL_PHASE_PROFILE=1 prints separate integrate1 and integrate2 timing per step.

The example uses the packaged ANYmal URDF under rsc/anymal and disables sleeping so the measured workload stays active throughout the run.