articulated_system_benchmark

articulated_system_benchmark is a headless timing-oriented example for articulated dynamics workloads. It runs several fixed scenes and prints timing through raisim::print_timediff.

Installed executable: articulated_system_benchmark.

Run it single-threaded for benchmark comparisons:

OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/articulated_system_benchmark

On Windows, run articulated_system_benchmark.exe instead.

The example covers:

• ANYmal standing with ground contact and then without the ground object.

• Atlas falling with and without ground contact.

• Chain robots with 10 and 20 springed links.

Use this package-level standalone executable for articulated-system timing checks.