benchmark.py

#!/usr/bin/env python3

import time

import numpy as np

from gym_duckietown.envs import DuckietownEnv

# Benchmark loading time
st = time.time()
env = DuckietownEnv(max_steps=20000, map_name="loop_obstacles")
env.seed(0)
env.reset()
load_time = 1000 * (time.time() - st)

# Benchmark the reset time
st = time.time()
for i in range(100):
    env.reset()
reset_time = 1000 * (time.time() - st) / 100

# Benchmark the rendering/update speed
num_frames = 0
st = time.time()

while True:
    dt = time.time() - st

    if dt > 5:
        break

    # Slow speed to minimize resets
    action = np.array([0.01, 0.01])
    obs, reward, done, info = env.step(action)

    if done:
        env.reset()

    num_frames += 1

fps = num_frames / dt
frame_time = 1000 * dt / num_frames

print()
print("load time: {} ms".format(int(load_time)))
print("reset time: {:,.1f} ms".format(reset_time))
print("frame time: {:,.1f} ms".format(frame_time))
print("frame rate: {:,.1f} FPS".format(fps))

env.close()