Benchmark Example: Articulated System

Overview

Headless timing run for articulated-dynamics workloads. It runs several fixed scenes and prints the time per step of each through raisim::print_timediff. Use it for articulated-system timing checks.

Target

CMake target: articulated_system_benchmark.

Run

Run it on one thread for benchmark comparisons:

OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 ./build-examples/examples/articulated_system_benchmark

On Windows, run articulated_system_benchmark.exe instead. The example takes no arguments and does not use RaisimServer.

Details

The example times these scenes in order:

• ANYmal standing on the ground, then the same robot after the ground is removed (1,000,000 steps each).

• Atlas falling with and without the ground (100,000 steps each); the average contact count is printed as well.

• Chains of 10 and 20 spring-loaded ball-joint links (30 and 60 DOF; 100,000 steps each).