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Add speed benchmarking tool #4

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5f62a5d
add speed benchmarking tool
slecleach Nov 3, 2025
5abd4bd
adding vis
slecleach Nov 3, 2025
2ae40dc
adding vis
slecleach Nov 3, 2025
2d47cf9
adding vis
slecleach Nov 3, 2025
126bfce
vis
slecleach Nov 3, 2025
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2 changes: 1 addition & 1 deletion judo/controller/controller.py
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Expand Up @@ -14,7 +14,7 @@
from judo.gui import slider
from judo.optimizers import Optimizer, OptimizerConfig, get_registered_optimizers
from judo.tasks import Task, TaskConfig, get_registered_tasks
from judo.utils.mujoco import RolloutBackend, make_model_data_pairs
from judo.utils.mujoco_utils import RolloutBackend, make_model_data_pairs
from judo.utils.normalization import (
IdentityNormalizer,
Normalizer,
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6 changes: 6 additions & 0 deletions judo/models/xml/cartpole.xml
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Expand Up @@ -42,4 +42,10 @@
<framepos name="trace_pole" objtype="site" objname="trace_pole" />
</sensor>

<keyframe>
<key name="initial_state" time="0" qpos="0 0.05" qvel="0 0" ctrl="0"/>
</keyframe>



</mujoco>
13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/133026_qsm_m3_2_i.part
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13 changes: 13 additions & 0 deletions .../xml/keith/assets/92010a778_passivated_18_8_stainless_steel_phillips_flat_head_screw.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/92703a444_18_8_stainless_steel_torx_flat_head_screws.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/99178a102_heavy_duty_side_mount_external_retaining_ring.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bearing_10id_15od_3_r_o_as.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bearing_12id_18od_4_r_2z_as.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bearing_15id_21od_4_r_2z_as.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bearing_4id_10od_3_fr_o_as.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bearing_4id_12od_4_r_2z_as.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/blank__cantilever_mount__wrist_b___amp_beta.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bogen_magnet__configuration_default.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/bushing_2id_3_5od_3_nf_p_j_glide.part
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14 changes: 14 additions & 0 deletions judo/models/xml/keith/assets/dist_spring_preload__configuration_default.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/middle_idler_shaft__configuration_default.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/palm_front_clasp.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/palm_main_structure.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/palm_middle_clasp.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_12.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_14.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_15.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_16.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_17.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_18.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_19.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/part_9__configuration_default.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/rai_011910_keith_encoder_board__configuration_default.part
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13 changes: 13 additions & 0 deletions judo/models/xml/keith/assets/rai_011950_thumb_swivel_phalange__configuration_default.part
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