Change contact parameters type to non-static#494
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flferretti merged 1 commit intomainfrom Dec 9, 2025
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Benchmark
Details
| Benchmark suite | Current: 5dc21ee | Previous: c28e89a | Ratio |
|---|---|---|---|
tests/test_benchmark.py::test_forward_dynamics_aba[1] |
318.1280070705466 iter/sec (stddev: 0.00003080902768350016) |
385.94492720843766 iter/sec (stddev: 0.000009463978323506126) |
1.21 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
26.211100527932494 iter/sec (stddev: 0.00008582972840156085) |
29.216966653272625 iter/sec (stddev: 0.00011455086573428671) |
1.11 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
298.2881815570617 iter/sec (stddev: 0.00001016179476759313) |
361.396251061539 iter/sec (stddev: 0.00000910574964681653) |
1.21 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
14.696449963802362 iter/sec (stddev: 0.0002807314008281412) |
16.218942194940492 iter/sec (stddev: 0.00025096534945186314) |
1.10 |
tests/test_benchmark.py::test_forward_kinematics[1] |
361.2846710704702 iter/sec (stddev: 0.000008675233862535637) |
452.4863643105723 iter/sec (stddev: 0.000008022285629396292) |
1.25 |
tests/test_benchmark.py::test_forward_kinematics[128] |
27.86801730370421 iter/sec (stddev: 0.00011349274357197356) |
31.765642438814933 iter/sec (stddev: 0.0002088457881717258) |
1.14 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
151.55598503350032 iter/sec (stddev: 0.000013212370025621134) |
181.58130216807277 iter/sec (stddev: 0.00005072371260792714) |
1.20 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
150.0427718093265 iter/sec (stddev: 0.000014409137903082471) |
175.24079377087364 iter/sec (stddev: 0.000018760096947039575) |
1.17 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
416.15523518803957 iter/sec (stddev: 0.00000894123262823533) |
525.7508803201982 iter/sec (stddev: 0.000006377672924636457) |
1.26 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
416.15300888538724 iter/sec (stddev: 0.000008928228180993186) |
534.2483568468638 iter/sec (stddev: 0.000006942445781767468) |
1.28 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
337.4209243063318 iter/sec (stddev: 0.000011163099217590168) |
410.0473494948492 iter/sec (stddev: 0.000012243950755069747) |
1.22 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
302.0824869294135 iter/sec (stddev: 0.00001148485513284272) |
302.58988317111164 iter/sec (stddev: 0.000015109621352982298) |
1.00 |
tests/test_benchmark.py::test_soft_contact_model[1] |
290.06641384683815 iter/sec (stddev: 0.000012254098050356598) |
349.9366267743607 iter/sec (stddev: 0.00000947480013200776) |
1.21 |
tests/test_benchmark.py::test_soft_contact_model[128] |
26.90999500327756 iter/sec (stddev: 0.00010436965596557322) |
29.951416599383442 iter/sec (stddev: 0.0001405258247109449) |
1.11 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
47.40112784696466 iter/sec (stddev: 0.00001594089699760501) |
40.276241063183 iter/sec (stddev: 0.000024302278784552764) |
0.85 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.7148309117112238 iter/sec (stddev: 0.02306372733085725) |
0.7258859819172665 iter/sec (stddev: 0.0003607214923404956) |
1.02 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
98.21496879709052 iter/sec (stddev: 0.00013393004234791704) |
74.75017951811331 iter/sec (stddev: 0.00003167479964364776) |
0.76 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
5.076734181512234 iter/sec (stddev: 0.00027289636159522524) |
6.400062476314604 iter/sec (stddev: 0.00024891629896200675) |
1.26 |
tests/test_benchmark.py::test_simulation_step[1] |
87.27984786178119 iter/sec (stddev: 0.000018313657620395885) |
69.29459728383536 iter/sec (stddev: 0.00002754549281911007) |
0.79 |
tests/test_benchmark.py::test_simulation_step[128] |
4.483096113455956 iter/sec (stddev: 0.00027148875659041495) |
5.39599749835251 iter/sec (stddev: 0.000279412049524645) |
1.20 |
tests/test_benchmark.py::test_update_hw_parameters[1] |
99.7629434520107 iter/sec (stddev: 0.00006470149766761432) |
||
tests/test_benchmark.py::test_update_hw_parameters[128] |
100.24386617482071 iter/sec (stddev: 0.000042953690541772) |
||
tests/test_benchmark.py::test_export_updated_model[1] |
3.4420728373996137 iter/sec (stddev: 0.0021040404585962813) |
||
tests/test_benchmark.py::test_export_updated_model[128] |
0.01884699784644795 iter/sec (stddev: 0.4658364223000932) |
This comment was automatically generated by workflow using github-action-benchmark.
xela-95
approved these changes
Dec 9, 2025
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This allows to perform gradient-based optimization of contact parameters