Texture Path Preservation #2203

Benchmark Comparison

✅ No regressions detected. See tables below.

Baselines considered: 5 commits

Commit 1: 6ea8ff8
Commit 2: 083d57f
Commit 3: 1523455
Commit 4: 5b43ede
Commit 5: 6bf6c31

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	-	8,125	7,963 (7,998 ± 35)	+2.0%
✅	anymal_c	0	False	-	ndarray	cpu	-	4,055	3,828 (3,962 ± 85)	+5.9%
✅	anymal_c	30000	False	-	field	cuda	-	16,913,070	16,805,972 (16,882,363 ± 65,613)	+0.6%
✅	anymal_c	30000	False	-	ndarray	cuda	-	12,014,626	12,025,968 (12,053,911 ± 52,538)	-0.1%
✅	box_pyramid_3	4096	False	-	field	cuda	-	342,477	343,889 (342,688 ± 773)	-0.4%
✅	box_pyramid_3	4096	False	-	ndarray	cuda	-	306,268	307,542 (306,310 ± 1,824)	-0.4%
✅	box_pyramid_4	4096	False	-	field	cuda	-	111,894	110,652 (110,762 ± 262)	+1.1%
✅	box_pyramid_4	4096	False	-	ndarray	cuda	-	95,292	95,202 (94,885 ± 340)	+0.1%
✅	box_pyramid_5	4096	False	-	field	cuda	-	42,454	42,472 (42,500 ± 26)	-0.0%
✅	box_pyramid_5	4096	False	-	ndarray	cuda	-	30,818	30,781 (30,823 ± 37)	+0.1%
✅	box_pyramid_6	4096	False	False	field	cuda	-	9,000	9,034 (9,053 ± 21)	-0.4%
✅	box_pyramid_6	4096	False	False	ndarray	cuda	-	5,166	5,168 (5,175 ± 13)	-0.0%
✅	box_pyramid_6	4096	False	True	field	cuda	-	10,432	10,388 (10,368 ± 11)	+0.4%
✅	box_pyramid_6	4096	False	True	ndarray	cuda	-	6,433	6,443 (6,468 ± 16)	-0.2%
✅	duck_in_box_easy	30000	False	False	field	cuda	-	20,851,952	20,845,264 (20,912,339 ± 108,202)	+0.0%
✅	duck_in_box_easy	30000	False	False	ndarray	cuda	-	15,735,729	15,925,671 (15,933,845 ± 107,308)	-1.2%
✅	duck_in_box_easy	30000	False	True	field	cuda	-	8,992,642	8,988,649 (8,994,712 ± 11,398)	+0.0%
✅	duck_in_box_easy	30000	False	True	ndarray	cuda	-	8,648,476	8,649,131 (8,639,100 ± 10,279)	-0.0%
✅	duck_in_box_hard	0	False	-	field	cpu	-	5,759	5,559 (5,551 ± 57)	+3.6%
✅	duck_in_box_hard	0	False	-	ndarray	cpu	-	3,100	3,057 (3,041 ± 15)	+1.4%
✅	duck_in_box_hard	30000	False	False	field	cuda	-	3,075,933	3,052,355 (3,068,056 ± 8,871)	+0.8%
✅	duck_in_box_hard	30000	False	False	ndarray	cuda	-	2,943,802	2,956,324 (2,942,275 ± 16,330)	-0.4%
✅	duck_in_box_hard	30000	False	True	field	cuda	-	1,777,358	1,766,885 (1,767,743 ± 2,301)	+0.6%
✅	duck_in_box_hard	30000	False	True	ndarray	cuda	-	1,325,409	1,308,075 (1,316,629 ± 5,546)	+1.3%
✅	franka	0	False	-	field	cpu	-	6,706	6,931 (6,951 ± 65)	-3.2%
✅	franka	0	False	-	ndarray	cpu	-	3,588	3,584 (3,579 ± 36)	+0.1%
✅	franka	30000	False	False	field	cuda	-	18,568,225	18,429,553 (18,510,867 ± 59,963)	+0.8%
✅	franka	30000	False	False	ndarray	cuda	-	14,039,847	14,071,910 (14,079,552 ± 49,987)	-0.2%
✅	franka	30000	False	True	field	cuda	-	11,614,684	11,571,579 (11,638,805 ± 111,964)	+0.4%
✅	franka	30000	False	True	ndarray	cuda	-	8,173,265	8,090,839 (8,159,201 ± 55,460)	+1.0%
✅	franka	30000	False	-	field	cuda	CG	20,961,982	20,994,519 (20,944,967 ± 38,312)	-0.2%
✅	franka	30000	False	-	field	cuda	Newton	18,479,031	18,515,894 (18,519,458 ± 29,710)	-0.2%
✅	franka	30000	False	-	ndarray	cuda	CG	15,661,928	15,575,119 (15,618,708 ± 42,711)	+0.6%
✅	franka	30000	False	-	ndarray	cuda	Newton	14,155,594	14,101,625 (14,116,882 ± 31,263)	+0.4%
✅	franka_accessors	0	False	-	field	cpu	-	1,887	1,915 (1,929 ± 10)	-1.5%
✅	franka_accessors	0	False	-	ndarray	cpu	-	1,483	1,478 (1,483 ± 19)	+0.3%
✅	franka_accessors	30000	False	-	field	cuda	-	23,263,862	23,178,943 (23,021,993 ± 166,146)	+0.4%
✅	franka_accessors	30000	False	-	ndarray	cuda	-	16,067,251	16,148,796 (16,004,594 ± 132,433)	-0.5%
✅	franka_free	30000	False	-	field	cuda	-	38,284,213	37,950,216 (38,099,989 ± 124,847)	+0.9%
✅	franka_free	30000	False	-	ndarray	cuda	-	24,956,709	24,717,323 (24,765,320 ± 148,237)	+1.0%
✅	go2	4096	False	False	field	cuda	CG	3,109,888	3,140,801 (3,124,200 ± 9,975)	-1.0%
✅	go2	4096	False	False	field	cuda	Newton	3,324,384	3,329,752 (3,327,188 ± 11,862)	-0.2%
✅	go2	4096	False	False	ndarray	cuda	CG	2,162,809	2,146,532 (2,151,363 ± 5,104)	+0.8%
✅	go2	4096	False	False	ndarray	cuda	Newton	2,296,033	2,297,188 (2,313,360 ± 14,753)	-0.1%
✅	go2	4096	False	True	field	cuda	-	2,311,489	2,314,197 (2,315,837 ± 6,422)	-0.1%
✅	go2	4096	False	True	ndarray	cuda	-	1,584,772	1,574,065 (1,581,112 ± 5,726)	+0.7%
✅	random	30000	False	-	field	cuda	-	5,917,499	5,916,965 (5,914,536 ± 10,420)	+0.0%
✅	random	30000	False	-	ndarray	cuda	-	4,553,919	4,503,069 (4,512,752 ± 10,126)	+1.1%

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	-	59.60	55.71 (60.88 ± 5.19)	+7.0%
✅	anymal_c	0	False	-	ndarray	cpu	-	36.60	34.03 (34.60 ± 1.27)	+7.6%
✅	anymal_c	30000	False	-	field	cuda	-	67.10	65.79 (67.83 ± 2.78)	+2.0%
✅	anymal_c	30000	False	-	ndarray	cuda	-	41.50	43.70 (42.73 ± 1.35)	-5.0%
✅	box_pyramid_3	4096	False	-	field	cuda	-	62.10	60.83 (62.43 ± 1.09)	+2.1%
✅	box_pyramid_3	4096	False	-	ndarray	cuda	-	38.30	38.07 (38.30 ± 0.57)	+0.6%
✅	box_pyramid_4	4096	False	-	field	cuda	-	62.50	60.77 (61.32 ± 1.59)	+2.8%
✅	box_pyramid_4	4096	False	-	ndarray	cuda	-	37.30	38.63 (38.12 ± 0.55)	-3.4%
✅	box_pyramid_5	4096	False	-	field	cuda	-	62.30	61.10 (62.74 ± 2.18)	+2.0%
✅	box_pyramid_5	4096	False	-	ndarray	cuda	-	37.10	37.85 (37.55 ± 0.62)	-2.0%
✅	box_pyramid_6	4096	False	False	field	cuda	-	63.10	66.70 (62.48 ± 2.78)	-5.4%
✅	box_pyramid_6	4096	False	False	ndarray	cuda	-	40.80	39.83 (40.94 ± 0.81)	+2.4%
✅	box_pyramid_6	4096	False	True	field	cuda	-	38.30	38.64 (38.89 ± 0.67)	-0.9%
✅	box_pyramid_6	4096	False	True	ndarray	cuda	-	28.20	27.01 (27.42 ± 0.36)	+4.4%
✅	duck_in_box_easy	30000	False	False	field	cuda	-	65.80	62.79 (63.65 ± 1.20)	+4.8%
✅	duck_in_box_easy	30000	False	False	ndarray	cuda	-	38.40	38.63 (39.28 ± 0.77)	-0.6%
✅	duck_in_box_easy	30000	False	True	field	cuda	-	39.20	37.82 (38.88 ± 0.88)	+3.6%
✅	duck_in_box_easy	30000	False	True	ndarray	cuda	-	24.80	25.09 (25.62 ± 0.58)	-1.2%
✅	duck_in_box_hard	0	False	-	field	cpu	-	57.40	54.65 (56.18 ± 1.92)	+5.0%
✅	duck_in_box_hard	0	False	-	ndarray	cpu	-	31.40	33.13 (32.37 ± 0.54)	-5.2%
✅	duck_in_box_hard	30000	False	False	field	cuda	-	60.30	60.97 (61.05 ± 1.32)	-1.1%
✅	duck_in_box_hard	30000	False	False	ndarray	cuda	-	36.70	35.72 (36.47 ± 0.56)	+2.8%
✅	duck_in_box_hard	30000	False	True	field	cuda	-	36.50	38.28 (37.55 ± 1.59)	-4.6%
✅	duck_in_box_hard	30000	False	True	ndarray	cuda	-	23.20	23.64 (23.32 ± 0.50)	-1.9%
✅	franka	0	False	-	field	cpu	-	60.40	56.29 (57.55 ± 1.72)	+7.3%
✅	franka	0	False	-	ndarray	cpu	-	30.30	32.31 (32.29 ± 0.83)	-6.2%
✅	franka	30000	False	False	field	cuda	-	60.80	56.67 (61.00 ± 3.51)	+7.3%
✅	franka	30000	False	False	ndarray	cuda	-	38	37 (37 ± 0)	+1.6%
✅	franka	30000	False	True	field	cuda	-	36.60	35.86 (37.28 ± 1.33)	+2.1%
✅	franka	30000	False	True	ndarray	cuda	-	25.40	25.55 (26.04 ± 0.76)	-0.6%
✅	franka	30000	False	-	field	cuda	CG	64.30	62.32 (63.37 ± 1.55)	+3.2%
✅	franka	30000	False	-	field	cuda	Newton	60.30	60.68 (64.91 ± 2.85)	-0.6%
✅	franka	30000	False	-	ndarray	cuda	CG	42.40	40.30 (40.74 ± 0.46)	+5.2%
✅	franka	30000	False	-	ndarray	cuda	Newton	36.70	36.85 (37.07 ± 0.43)	-0.4%
✅	franka_accessors	0	False	-	field	cpu	-	52.70	55.28 (57.54 ± 3.89)	-4.7%
✅	franka_accessors	0	False	-	ndarray	cpu	-	31.50	32.58 (32.31 ± 0.54)	-3.3%
✅	franka_accessors	30000	False	-	field	cuda	-	59.10	62.99 (61.07 ± 1.42)	-6.2%
✅	franka_accessors	30000	False	-	ndarray	cuda	-	37.60	37.39 (37.43 ± 0.18)	+0.6%
✅	franka_free	30000	False	-	field	cuda	-	64.50	60.81 (61.10 ± 0.73)	+6.1%
✅	franka_free	30000	False	-	ndarray	cuda	-	38.60	38.91 (38.69 ± 1.45)	-0.8%
✅	go2	4096	False	False	field	cuda	CG	61	63 (65 ± 1)	-3.4%
✅	go2	4096	False	False	field	cuda	Newton	65.20	62.63 (61.49 ± 1.64)	+4.1%
✅	go2	4096	False	False	ndarray	cuda	CG	38.30	39.41 (38.53 ± 0.86)	-2.8%
✅	go2	4096	False	False	ndarray	cuda	Newton	37.50	38.42 (38.19 ± 1.16)	-2.4%
✅	go2	4096	False	True	field	cuda	-	42.10	41.76 (41.71 ± 0.93)	+0.8%
✅	go2	4096	False	True	ndarray	cuda	-	30	29 (29 ± 0)	+1.1%
✅	random	30000	False	-	field	cuda	-	62.70	64.87 (66.11 ± 1.63)	-3.3%
✅	random	30000	False	-	ndarray	cuda	-	39	38 (39 ± 1)	+0.7%

(*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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Texture Path Preservation #2203

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Texture Path Preservation #2203

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Benchmark Comparison

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Texture Path Preservation #2203

Merge branch 'main' into proto-apollo-export

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Texture Path Preservation #2203

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