Hi, I am looking to time both the training and simulation of one of the isaacgymexamples environments separately, and was wondering whereabouts in the code I would be best timing? Is it the case that simulation happens throughout the whole training process in each epoch or is it more of a case of SIMULATE ACTION → CALCULATE OBSERVATION & REWARD → DNN FORWARD PASS. If it is the second, then whereabouts can I find the code for each, for example in the Humanoid example. Any help would be greatly appreciated. Thanks