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 the unified benchmark runner documented in the Performance page for repeatable benchmark selection and shorter targeted runs. Use this example when you want the package-level standalone executable that mirrors the historical articulated-system timing scenes.