{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.sim.mujoco import Go2Sim\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "env = Go2Sim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "False"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "env.step_counter+=1\n",
    "env.render and (env.step_counter%env.render_ds_ratio)==0\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "import mujoco\n",
    "import time\n",
    "freq_list = []\n",
    "for i in range(100000):\n",
    "    tick = time.time()\n",
    "    q,dq = env.step(np.zeros(12))\n",
    "    tock = time.time()\n",
    "    freq_list.append(1/(tock-tick))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Using matplotlib backend: TkAgg\n"
     ]
    }
   ],
   "source": [
    "\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib\n",
    "_ = plt.hist(freq_list, bins=100)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "b1-env",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.18"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}