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[MISC] Migrate from pip to uv for unit tests venv in production CI. #2195

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Merged
duburcqa merged 17 commits into from
Jan 9, 2026
+56 −39

Merge branch 'main' into hp/uv-unit-tests

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Merged

[MISC] Migrate from pip to uv for unit tests venv in production CI. #2195

Merge branch 'main' into hp/uv-unit-tests
87701a2
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GitHub Actions / Benchmark Comparison succeeded Jan 9, 2026 in 0s

Benchmark Comparison

⚠️ Large deviation detected. See tables below.

Details

Baselines considered: 5 commits

Thresholds: runtime ± 8%, compile ± 16%

Runtime FPS

status env batch_size use_contact_island gjk_collision dtype backend constraint_solver current FPS baseline FPS [last (mean ± std)] (*1) Δ FPS (*2)
✅ anymal_c 0 False - field cpu - 8,181 8,142 (7,927 ± 186) +0.5%
✅ anymal_c 0 False - ndarray cpu - 3,963 3,979 (3,963 ± 98) -0.4%
✅ anymal_c 30000 False - field cuda - 16,923,534 16,887,374 (16,863,650 ± 53,296) +0.2%
✅ anymal_c 30000 False - ndarray cuda - 12,076,345 12,118,559 (12,063,993 ± 37,720) -0.3%
✅ box_pyramid_3 4096 False - field cuda - 341,823 341,903 (342,500 ± 808) -0.0%
✅ box_pyramid_3 4096 False - ndarray cuda - 306,567 308,200 (307,322 ± 1,189) -0.5%
✅ box_pyramid_4 4096 False - field cuda - 111,599 110,676 (110,894 ± 596) +0.8%
✅ box_pyramid_4 4096 False - ndarray cuda - 95,021 94,916 (95,200 ± 191) +0.1%
✅ box_pyramid_5 4096 False - field cuda - 42,648 42,544 (42,558 ± 95) +0.2%
✅ box_pyramid_5 4096 False - ndarray cuda - 30,816 30,910 (30,853 ± 59) -0.3%
✅ box_pyramid_6 4096 False False field cuda - 9,046 9,030 (9,051 ± 25) +0.2%
✅ box_pyramid_6 4096 False False ndarray cuda - 5,160 5,188 (5,177 ± 15) -0.5%
✅ box_pyramid_6 4096 False True field cuda - 10,352 10,430 (10,391 ± 27) -0.7%
✅ box_pyramid_6 4096 False True ndarray cuda - 6,468 6,461 (6,470 ± 23) +0.1%
✅ duck_in_box_easy 30000 False False field cuda - 21,039,593 21,034,910 (20,945,440 ± 89,677) +0.0%
✅ duck_in_box_easy 30000 False False ndarray cuda - 15,990,628 16,039,617 (15,895,239 ± 114,318) -0.3%
✅ duck_in_box_easy 30000 False True field cuda - 8,989,752 9,016,488 (8,995,256 ± 13,947) -0.3%
✅ duck_in_box_easy 30000 False True ndarray cuda - 8,651,158 8,632,664 (8,637,001 ± 7,021) +0.2%
✅ duck_in_box_hard 0 False - field cpu - 5,632 5,528 (5,593 ± 50) +1.9%
✅ duck_in_box_hard 0 False - ndarray cpu - 3,085 2,975 (3,044 ± 57) +3.7%
✅ duck_in_box_hard 30000 False False field cuda - 3,073,240 3,087,470 (3,070,807 ± 12,570) -0.5%
✅ duck_in_box_hard 30000 False False ndarray cuda - 2,942,053 2,961,186 (2,946,878 ± 12,280) -0.6%
✅ duck_in_box_hard 30000 False True field cuda - 1,765,567 1,776,920 (1,767,071 ± 6,353) -0.6%
✅ duck_in_box_hard 30000 False True ndarray cuda - 1,315,620 1,323,730 (1,312,797 ± 10,484) -0.6%
✅ franka 0 False - field cpu - 6,905 6,874 (6,942 ± 44) +0.5%
✅ franka 0 False - ndarray cpu - 3,592 3,616 (3,603 ± 22) -0.7%
✅ franka 30000 False False field cuda - 18,577,874 18,549,186 (18,496,313 ± 69,891) +0.2%
✅ franka 30000 False False ndarray cuda - 14,105,602 14,136,502 (14,081,473 ± 36,655) -0.2%
✅ franka 30000 False True field cuda - 11,688,138 11,606,176 (11,609,015 ± 108,560) +0.7%
✅ franka 30000 False True ndarray cuda - 8,189,227 8,150,549 (8,122,837 ± 37,943) +0.5%
✅ franka 30000 False - field cuda CG 20,887,181 20,848,263 (20,976,197 ± 84,259) +0.2%
✅ franka 30000 False - field cuda Newton 18,471,836 18,588,204 (18,495,252 ± 79,321) -0.6%
✅ franka 30000 False - ndarray cuda CG 15,610,023 15,670,392 (15,625,396 ± 44,376) -0.4%
✅ franka 30000 False - ndarray cuda Newton 14,152,204 14,071,788 (14,089,248 ± 13,027) +0.6%
✅ franka_accessors 0 False - field cpu - 1,920 1,950 (1,947 ± 23) -1.5%
✅ franka_accessors 0 False - ndarray cpu - 1,466 1,444 (1,481 ± 24) +1.5%
✅ franka_accessors 30000 False - field cuda - 23,003,872 23,068,511 (22,993,107 ± 133,236) -0.3%
✅ franka_accessors 30000 False - ndarray cuda - 16,268,442 16,155,113 (16,058,942 ± 152,975) +0.7%
✅ franka_free 30000 False - field cuda - 37,751,354 38,223,933 (38,184,515 ± 284,147) -1.2%
✅ franka_free 30000 False - ndarray cuda - 24,585,208 24,715,308 (24,746,913 ± 78,437) -0.5%
✅ go2 4096 False False field cuda CG 3,120,864 3,120,755 (3,116,446 ± 18,528) +0.0%
✅ go2 4096 False False field cuda Newton 3,333,097 3,332,021 (3,329,829 ± 12,246) +0.0%
✅ go2 4096 False False ndarray cuda CG 2,162,077 2,143,540 (2,147,551 ± 4,530) +0.9%
✅ go2 4096 False False ndarray cuda Newton 2,314,375 2,319,695 (2,304,277 ± 9,226) -0.2%
✅ go2 4096 False True field cuda - 2,312,020 2,304,112 (2,316,785 ± 8,490) +0.3%
✅ go2 4096 False True ndarray cuda - 1,582,892 1,582,179 (1,581,786 ± 6,930) +0.0%
✅ random 30000 False - field cuda - 5,917,993 5,923,766 (5,915,706 ± 10,875) -0.1%
✅ random 30000 False - ndarray cuda - 4,511,601 4,511,887 (4,513,869 ± 7,252) -0.0%

Compile Time

status env batch_size use_contact_island gjk_collision dtype backend constraint_solver current compile baseline compile [last (mean ± std)] (*1) Δ compile (*2)
✅ anymal_c 0 False - field cpu - 59.90 56.09 (58.14 ± 3.01) +6.8%
✅ anymal_c 0 False - ndarray cpu - 35.10 33.45 (34.76 ± 1.82) +4.9%
✅ anymal_c 30000 False - field cuda - 65.50 72.23 (67.54 ± 4.18) -9.3%
✅ anymal_c 30000 False - ndarray cuda - 43.30 44.12 (43.59 ± 1.18) -1.9%
✅ box_pyramid_3 4096 False - field cuda - 63.40 71.60 (64.93 ± 4.08) -11.5%
✅ box_pyramid_3 4096 False - ndarray cuda - 37.80 39.82 (38.67 ± 1.25) -5.1%
✅ box_pyramid_4 4096 False - field cuda - 62 66 (62 ± 2) -6.7%
✅ box_pyramid_4 4096 False - ndarray cuda - 38.40 38.80 (37.89 ± 1.05) -1.0%
✅ box_pyramid_5 4096 False - field cuda - 61.80 69.22 (65.87 ± 6.08) -10.7%
✅ box_pyramid_5 4096 False - ndarray cuda - 37.10 37.00 (37.58 ± 1.08) +0.3%
✅ box_pyramid_6 4096 False False field cuda - 61.10 60.02 (63.11 ± 2.47) +1.8%
✅ box_pyramid_6 4096 False False ndarray cuda - 42.70 40.77 (40.75 ± 0.92) +4.7%
✅ box_pyramid_6 4096 False True field cuda - 39.10 38.91 (38.35 ± 0.80) +0.5%
✅ box_pyramid_6 4096 False True ndarray cuda - 27.60 27.02 (27.91 ± 0.91) +2.1%
✅ duck_in_box_easy 30000 False False field cuda - 64.20 73.87 (68.25 ± 4.83) -13.1%
✅ duck_in_box_easy 30000 False False ndarray cuda - 37.90 37.64 (38.43 ± 0.73) +0.7%
✅ duck_in_box_easy 30000 False True field cuda - 39.20 39.47 (38.68 ± 0.82) -0.7%
✅ duck_in_box_easy 30000 False True ndarray cuda - 25.50 26.09 (25.36 ± 0.65) -2.3%
✅ duck_in_box_hard 0 False - field cpu - 55.40 59.79 (55.52 ± 2.54) -7.3%
✅ duck_in_box_hard 0 False - ndarray cpu - 32.20 33.94 (33.05 ± 0.87) -5.1%
✅ duck_in_box_hard 30000 False False field cuda - 63.10 62.64 (61.71 ± 0.81) +0.7%
✅ duck_in_box_hard 30000 False False ndarray cuda - 37.10 37.50 (36.88 ± 0.71) -1.1%
✅ duck_in_box_hard 30000 False True field cuda - 37 35 (37 ± 1) +2.9%
✅ duck_in_box_hard 30000 False True ndarray cuda - 23 24 (23 ± 0) -4.3%
✅ franka 0 False - field cpu - 57.20 59.61 (58.37 ± 2.93) -4.0%
✅ franka 0 False - ndarray cpu - 32.30 30.42 (31.81 ± 0.96) +6.2%
⚠️ franka 30000 False False field cuda - 60.50 75.46 (63.96 ± 7.99) -19.8%
✅ franka 30000 False False ndarray cuda - 37.60 38.28 (37.49 ± 1.04) -1.8%
✅ franka 30000 False True field cuda - 37.60 35.14 (35.96 ± 0.49) +7.0%
✅ franka 30000 False True ndarray cuda - 25.20 25.32 (25.47 ± 0.43) -0.5%
✅ franka 30000 False - field cuda CG 64.80 62.61 (62.12 ± 0.89) +3.5%
✅ franka 30000 False - field cuda Newton 67.90 59.51 (62.79 ± 3.62) +14.1%
✅ franka 30000 False - ndarray cuda CG 41.40 40.93 (40.95 ± 0.67) +1.1%
✅ franka 30000 False - ndarray cuda Newton 37.20 37.98 (37.59 ± 0.63) -2.1%
✅ franka_accessors 0 False - field cpu - 58.80 53.01 (57.67 ± 5.57) +10.9%
✅ franka_accessors 0 False - ndarray cpu - 30.90 33.82 (32.32 ± 0.95) -8.6%
✅ franka_accessors 30000 False - field cuda - 60.50 62.51 (62.37 ± 2.31) -3.2%
✅ franka_accessors 30000 False - ndarray cuda - 36.90 37.15 (37.24 ± 0.91) -0.7%
✅ franka_free 30000 False - field cuda - 59.90 67.95 (61.05 ± 4.04) -11.9%
✅ franka_free 30000 False - ndarray cuda - 37.90 38.30 (39.23 ± 0.82) -1.0%
✅ go2 4096 False False field cuda CG 67.90 60.43 (63.62 ± 3.05) +12.4%
✅ go2 4096 False False field cuda Newton 60.60 71.49 (64.16 ± 5.23) -15.2%
✅ go2 4096 False False ndarray cuda CG 37.70 38.47 (38.82 ± 0.93) -2.0%
✅ go2 4096 False False ndarray cuda Newton 38.20 37.63 (39.04 ± 0.97) +1.5%
✅ go2 4096 False True field cuda - 43.60 40.28 (41.02 ± 0.67) +8.3%
✅ go2 4096 False True ndarray cuda - 30.80 30.30 (29.96 ± 0.41) +1.7%
✅ random 30000 False - field cuda - 64 60 (65 ± 4) +6.3%
✅ random 30000 False - ndarray cuda - 38.40 39.67 (38.84 ± 0.51) -3.2%
  • (*1) last: last commit on main, mean/std: stats over revs 5 commits if available.
  • (*2) Δ: relative difference between PR and last commit on main, i.e. (PR - main) / main * 100%.

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