Function printSimulationPerfStats

sandbox/sim_utils.py:236–250

(step_timings: np.ndarray)

def printSimulationPerfStats(step_timings: np.ndarray):
    print("============================================")
    print("SIMULATION")
    print("Time elapsed: ", np.sum(step_timings))
    print(
        "Mean timings time step: {mean:.2f} +/- {std:.2f} microseconds".format(
            mean=np.mean(step_timings) * 1e6, std=np.std(step_timings) * 1e6
        )
    )
    print(
        "Steps frequency: {freq:.2f} kHz".format(
            freq=(step_timings.size) / np.sum(step_timings) * 1e-3
        )
    )
    print("============================================")


def runMujocoXML(model_path: str, args: SimulationArgs):