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Re-format narrowphase.py to unwrap calls that now fit on one line

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[MISC] Reduce indentation in narrowphase.py and save 89 lines #2790

Re-format narrowphase.py to unwrap calls that now fit on one line
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GitHub Actions / Benchmark Comparison failed May 16, 2026 in 0s

Benchmark Comparison

🔴 Regressions detected. See tables below.

Details

Thresholds: runtime ± 8%, compile ± 30%, mem ± 4%

Runtime FPS

status env batch_size use_contact_island dtype backend gjk_collision constraint_solver current FPS baseline FPS [last (mean ± std)] (*1) Δ FPS (*2)
✅ anymal_random 30000 False field cuda - - 9,531,794 9,301,043 (9,375,919 ± 176,404) +2.5%
✅ anymal_random 30000 False ndarray cuda - - 7,720,621 7,654,056 (7,726,816 ± 146,243) +0.9%
✅ anymal_uniform 30000 False field cuda - - 12,256,952 12,294,645 (12,444,633 ± 191,166) -0.3%
✅ anymal_uniform 30000 False ndarray cuda - - 10,456,160 10,512,288 (10,539,741 ± 200,999) -0.5%
✅ anymal_uniform_kinematic 0 False field cpu - - 1,680 1,637 (1,646 ± 12) +2.6%
✅ anymal_uniform_kinematic 0 False ndarray cpu - - 990 985 (983 ± 5) +0.5%
✅ anymal_uniform_kinematic 30000 False field cuda - - 10,695,429 10,139,297 (10,202,624 ± 40,401) +5.5%
✅ anymal_uniform_kinematic 30000 False ndarray cuda - - 8,233,696 8,100,745 (8,114,524 ± 42,001) +1.6%
✅ anymal_zero 0 False field cpu - - 5,404 5,493 (5,506 ± 40) -1.6%
✅ anymal_zero 0 False ndarray cpu - - 3,261 3,233 (3,262 ± 26) +0.9%
✅ anymal_zero 30000 False field cuda - - 19,187,582 19,004,828 (19,115,620 ± 202,053) +1.0%
✅ anymal_zero 30000 False ndarray cuda - - 14,307,949 14,389,284 (14,456,970 ± 237,810) -0.6%
✅ box_pyramid_3 4096 False field cuda - - 1,033,222 977,309 (975,478 ± 4,825) +5.7%
✅ box_pyramid_3 4096 False ndarray cuda - - 805,950 756,953 (755,577 ± 4,112) +6.5%
✅ box_pyramid_4 4096 False field cuda - - 421,399 392,803 (389,242 ± 3,188) +7.3%
✅ box_pyramid_4 4096 False ndarray cuda - - 339,567 317,428 (317,909 ± 948) +7.0%
✅ box_pyramid_5 4096 False field cuda - - 150,780 141,859 (140,462 ± 1,202) +6.3%
✅ box_pyramid_5 4096 False ndarray cuda - - 127,075 120,472 (119,439 ± 1,087) +5.5%
✅ box_pyramid_6 4096 False field cuda False - 62,398 60,025 (59,465 ± 595) +4.0%
✅ box_pyramid_6 4096 False field cuda True - 64,804 61,499 (60,844 ± 674) +5.4%
✅ box_pyramid_6 4096 False ndarray cuda False - 54,111 51,541 (51,898 ± 333) +5.0%
✅ box_pyramid_6 4096 False ndarray cuda True - 54,427 52,343 (52,015 ± 423) +4.0%
✅ dex_hand 4096 False field cuda - - 18,157 17,239 (17,204 ± 47) +5.3%
✅ dex_hand 4096 False ndarray cuda - - 14,919 14,050 (14,186 ± 94) +6.2%
✅ duck_in_box_easy 30000 False field cuda False - 27,598,070 26,805,788 (26,812,413 ± 319,973) +3.0%
✅ duck_in_box_easy 30000 False field cuda True - 9,562,491 9,751,887 (9,625,613 ± 86,038) -1.9%
✅ duck_in_box_easy 30000 False ndarray cuda False - 20,117,543 19,859,909 (19,876,573 ± 172,160) +1.3%
✅ duck_in_box_easy 30000 False ndarray cuda True - 8,393,577 8,404,657 (8,518,425 ± 67,713) -0.1%
✅ duck_in_box_hard 0 False field cpu - - 4,271 4,424 (4,386 ± 26) -3.5%
✅ duck_in_box_hard 0 False ndarray cpu - - 2,702 2,770 (2,707 ± 33) -2.5%
✅ duck_in_box_hard 30000 False field cuda False - 10,320,616 10,034,178 (10,258,206 ± 234,578) +2.9%
✅ duck_in_box_hard 30000 False field cuda True - 3,704,956 3,556,895 (3,469,092 ± 62,747) +4.2%
✅ duck_in_box_hard 30000 False ndarray cuda False - 7,532,018 7,405,598 (7,493,546 ± 67,775) +1.7%
✅ duck_in_box_hard 30000 False ndarray cuda True - 2,811,805 2,793,530 (2,871,990 ± 73,666) +0.7%
✅ franka 30000 False field cuda - - 22,643,431 21,274,058 (21,685,756 ± 236,344) +6.4%
✅ franka 30000 False ndarray cuda - - 16,064,827 16,004,657 (15,964,169 ± 116,307) +0.4%
✅ franka_accessors 0 False field cpu - - 1,026 1,008 (1,050 ± 27) +1.8%
✅ franka_accessors 0 False ndarray cpu - - 828 822 (834 ± 7) +0.7%
✅ franka_accessors 30000 False field cuda - - 15,140,374 14,879,266 (15,071,323 ± 118,960) +1.8%
✅ franka_accessors 30000 False ndarray cuda - - 11,411,061 11,118,064 (11,344,579 ± 175,392) +2.6%
✅ franka_free 30000 False field cuda - - 33,154,959 31,958,465 (31,990,118 ± 212,742) +3.7%
✅ franka_free 30000 False ndarray cuda - - 21,050,160 20,905,313 (21,083,523 ± 130,926) +0.7%
✅ franka_random 0 False field cpu - - 4,719 4,764 (4,834 ± 48) -0.9%
✅ franka_random 0 False ndarray cpu - - 2,920 2,927 (2,931 ± 10) -0.2%
✅ franka_random 30000 False field cuda False - 16,949,274 16,723,720 (16,499,545 ± 153,984) +1.3%
✅ franka_random 30000 False field cuda True - 11,541,233 11,351,563 (11,461,348 ± 110,300) +1.7%
✅ franka_random 30000 False field cuda - CG 16,731,656 16,360,503 (16,603,349 ± 241,275) +2.3%
✅ franka_random 30000 False field cuda - Newton 16,957,611 16,351,495 (16,381,244 ± 182,739) +3.7%
✅ franka_random 30000 False ndarray cuda False - 12,440,642 12,386,475 (12,373,699 ± 23,466) +0.4%
✅ franka_random 30000 False ndarray cuda True - 8,591,015 8,496,576 (8,608,089 ± 93,841) +1.1%
✅ franka_random 30000 False ndarray cuda - CG 12,292,532 12,151,715 (12,296,137 ± 114,579) +1.2%
✅ franka_random 30000 False ndarray cuda - Newton 12,459,619 12,353,682 (12,539,663 ± 291,901) +0.9%
✅ g1_fall 4096 False field cuda - Newton 969,684 909,280 (909,241 ± 2,313) +6.6%
✅ g1_fall 4096 False ndarray cuda - Newton 756,345 702,925 (706,247 ± 6,355) +7.6%
✅ go2 4096 False field cuda False CG 3,758,249 3,603,533 (3,614,858 ± 29,144) +4.3%
✅ go2 4096 False field cuda False Newton 4,661,595 4,362,729 (4,378,554 ± 41,370) +6.9%
✅ go2 4096 False field cuda True - 3,250,232 3,208,648 (3,246,845 ± 31,843) +1.3%
✅ go2 4096 False ndarray cuda False CG 2,579,958 2,542,285 (2,555,419 ± 17,887) +1.5%
✅ go2 4096 False ndarray cuda False Newton 3,054,455 3,024,419 (3,034,504 ± 14,297) +1.0%
✅ go2 4096 False ndarray cuda True - 2,268,424 2,236,765 (2,278,230 ± 31,752) +1.4%
✅ shadow_hand_cubes 0 False field cpu - - 41 40 (40 ± 0) +2.5%
✅ shadow_hand_cubes 0 False ndarray cpu - - 31 31 (31 ± 0) +0.0%
✅ shadow_hand_cubes_sparse 0 False field cpu - - 63 64 (64 ± 0) -1.6%
✅ shadow_hand_cubes_sparse 0 False ndarray cpu - - 43 41 (42 ± 0) +4.9%

Baselines considered: 5 commits

Compile Time

status env batch_size use_contact_island dtype backend gjk_collision constraint_solver current compile baseline compile [last (mean ± std)] (*1) Δ compile (*2)
✅ anymal_random 30000 False field cuda - - 71.50 70.80 (69.68 ± 1.60) +1.0%
✅ anymal_random 30000 False ndarray cuda - - 65 65 (63 ± 1) -0.8%
✅ anymal_uniform 30000 False field cuda - - 71.30 68.90 (70.18 ± 1.17) +3.5%
✅ anymal_uniform 30000 False ndarray cuda - - 66.10 64.70 (63.82 ± 0.59) +2.2%
✅ anymal_uniform_kinematic 0 False field cpu - - 38.30 39.30 (39.10 ± 0.16) -2.5%
✅ anymal_uniform_kinematic 0 False ndarray cpu - - 33.40 33.50 (33.38 ± 0.19) -0.3%
✅ anymal_uniform_kinematic 30000 False field cuda - - 71 73 (72 ± 0) -3.1%
✅ anymal_uniform_kinematic 30000 False ndarray cuda - - 63.30 64.40 (63.90 ± 0.30) -1.7%
✅ anymal_zero 0 False field cpu - - 35 35 (34 ± 0) -0.3%
✅ anymal_zero 0 False ndarray cpu - - 29.70 29.80 (30.00 ± 0.30) -0.3%
✅ anymal_zero 30000 False field cuda - - 69.40 71.40 (70.76 ± 1.21) -2.8%
✅ anymal_zero 30000 False ndarray cuda - - 64.60 61.40 (63.14 ± 1.22) +5.2%
✅ box_pyramid_3 4096 False field cuda - - 88.50 78.10 (80.02 ± 4.12) +13.3%
✅ box_pyramid_3 4096 False ndarray cuda - - 71.80 72.60 (74.38 ± 3.67) -1.1%
✅ box_pyramid_4 4096 False field cuda - - 85.20 76.20 (79.50 ± 4.49) +11.8%
✅ box_pyramid_4 4096 False ndarray cuda - - 80 77 (72 ± 3) +3.0%
✅ box_pyramid_5 4096 False field cuda - - 75.50 85.70 (82.44 ± 3.56) -11.9%
✅ box_pyramid_5 4096 False ndarray cuda - - 80.70 68.90 (73.06 ± 4.31) +17.1%
✅ box_pyramid_6 4096 False field cuda False - 77 85 (81 ± 4) -10.0%
✅ box_pyramid_6 4096 False field cuda True - 64.70 56.50 (61.20 ± 4.07) +14.5%
✅ box_pyramid_6 4096 False ndarray cuda False - 80.30 79.60 (72.74 ± 3.49) +0.9%
✅ box_pyramid_6 4096 False ndarray cuda True - 57.60 50.00 (51.42 ± 3.54) +15.2%
✅ dex_hand 4096 False field cuda - - 94.80 95.60 (94.46 ± 0.89) -0.8%
✅ dex_hand 4096 False ndarray cuda - - 89.80 88.90 (88.92 ± 0.85) +1.0%
✅ duck_in_box_easy 30000 False field cuda False - 69.80 70.80 (69.96 ± 1.05) -1.4%
✅ duck_in_box_easy 30000 False field cuda True - 48.20 48.70 (48.32 ± 0.52) -1.0%
✅ duck_in_box_easy 30000 False ndarray cuda False - 61.10 63.30 (62.76 ± 0.66) -3.5%
✅ duck_in_box_easy 30000 False ndarray cuda True - 41.70 42.10 (41.92 ± 0.32) -1.0%
✅ duck_in_box_hard 0 False field cpu - - 37.40 37.60 (37.60 ± 0.12) -0.5%
✅ duck_in_box_hard 0 False ndarray cpu - - 32.40 33.00 (33.14 ± 0.28) -1.8%
✅ duck_in_box_hard 30000 False field cuda False - 68.60 70.10 (68.48 ± 0.89) -2.1%
✅ duck_in_box_hard 30000 False field cuda True - 47.70 48.60 (48.24 ± 0.49) -1.9%
✅ duck_in_box_hard 30000 False ndarray cuda False - 62.50 61.00 (61.56 ± 0.39) +2.5%
✅ duck_in_box_hard 30000 False ndarray cuda True - 41.30 42.50 (42.20 ± 0.30) -2.8%
✅ franka 30000 False field cuda - - 66 67 (66 ± 1) -1.8%
✅ franka 30000 False ndarray cuda - - 59 59 (59 ± 0) -0.3%
✅ franka_accessors 0 False field cpu - - 35.10 35.70 (35.44 ± 0.45) -1.7%
✅ franka_accessors 0 False ndarray cpu - - 30.20 30.40 (30.24 ± 0.36) -0.7%
✅ franka_accessors 30000 False field cuda - - 66 69 (66 ± 1) -5.3%
✅ franka_accessors 30000 False ndarray cuda - - 60.50 58.60 (59.46 ± 0.51) +3.2%
✅ franka_free 30000 False field cuda - - 65.90 66.60 (65.50 ± 0.60) -1.1%
✅ franka_free 30000 False ndarray cuda - - 59.80 58.80 (58.76 ± 0.25) +1.7%
✅ franka_random 0 False field cpu - - 34.50 35.10 (34.78 ± 0.26) -1.7%
✅ franka_random 0 False ndarray cpu - - 29.80 30.00 (29.96 ± 0.13) -0.7%
✅ franka_random 30000 False field cuda False - 65.60 66.80 (66.06 ± 0.60) -1.8%
✅ franka_random 30000 False field cuda True - 45.60 45.90 (45.38 ± 0.29) -0.7%
✅ franka_random 30000 False field cuda - CG 66.20 66.10 (65.82 ± 0.98) +0.2%
✅ franka_random 30000 False field cuda - Newton 66.80 68.00 (66.78 ± 1.30) -1.8%
✅ franka_random 30000 False ndarray cuda False - 59 58 (59 ± 0) +0.9%
✅ franka_random 30000 False ndarray cuda True - 39.10 39.30 (38.94 ± 0.29) -0.5%
✅ franka_random 30000 False ndarray cuda - CG 58.70 58.00 (58.24 ± 0.16) +1.2%
✅ franka_random 30000 False ndarray cuda - Newton 59.40 60.00 (59.34 ± 0.44) -1.0%
✅ g1_fall 4096 False field cuda - Newton 84.30 77.60 (75.48 ± 1.28) +8.6%
✅ g1_fall 4096 False ndarray cuda - Newton 69.10 68.10 (68.16 ± 0.36) +1.5%
✅ go2 4096 False field cuda False CG 64.80 65.40 (64.90 ± 0.96) -0.9%
✅ go2 4096 False field cuda False Newton 74.90 79.30 (83.06 ± 2.01) -5.5%
✅ go2 4096 False field cuda True - 54.60 63.70 (59.72 ± 4.23) -14.3%
✅ go2 4096 False ndarray cuda False CG 58.40 57.90 (57.84 ± 0.12) +0.9%
✅ go2 4096 False ndarray cuda False Newton 70.40 67.90 (69.72 ± 3.30) +3.7%
✅ go2 4096 False ndarray cuda True - 58.60 56.80 (49.54 ± 3.56) +3.2%
✅ shadow_hand_cubes 0 False field cpu - - 36.40 36.90 (36.82 ± 0.49) -1.4%
✅ shadow_hand_cubes 0 False ndarray cpu - - 32.30 31.50 (31.76 ± 0.31) +2.5%
✅ shadow_hand_cubes_sparse 0 False field cpu - - 35.70 35.80 (35.96 ± 0.15) -0.3%
✅ shadow_hand_cubes_sparse 0 False ndarray cpu - - 31.30 31.50 (31.60 ± 0.18) -0.6%

Baselines considered: 5 commits

Memory usage

status env batch_size backend dtype gjk_collision constraint_solver current memory baseline memory [last (mean ± std)] (*1) Δ memory (*2)
✅ anymal_random 30000 gpu field - - 12,530 12,950 (12,614 ± 164) -3.2%
✅ anymal_random 30000 gpu ndarray - - 12,498 12,918 (12,580 ± 165) -3.3%
✅ anymal_uniform 30000 gpu field - - 12,530 12,952 (12,614 ± 165) -3.3%
✅ anymal_uniform 30000 gpu ndarray - - 12,498 12,918 (12,581 ± 165) -3.3%
🔴 anymal_uniform_kinematic 0 cpu field - - 952 806 (806 ± 0) +18.1%
🔴 anymal_uniform_kinematic 0 cpu ndarray - - 984 806 (806 ± 0) +22.1%
✅ anymal_uniform_kinematic 30000 gpu field - - 12,866 13,288 (12,949 ± 165) -3.2%
✅ anymal_uniform_kinematic 30000 gpu ndarray - - 12,866 13,254 (12,917 ± 165) -2.9%
🔴 anymal_zero 0 cpu field - - 920 806 (806 ± 0) +14.1%
🔴 anymal_zero 0 cpu ndarray - - 1,016 806 (806 ± 0) +26.1%
✅ anymal_zero 30000 gpu field - - 12,530 12,950 (12,613 ± 165) -3.2%
✅ anymal_zero 30000 gpu ndarray - - 12,498 12,918 (12,581 ± 165) -3.3%
⚠️ box_pyramid_3 4096 gpu field - - 2,080 2,502 (2,164 ± 165) -16.9%
⚠️ box_pyramid_3 4096 gpu ndarray - - 2,080 2,502 (2,164 ± 165) -16.9%
✅ box_pyramid_4 4096 gpu field - - 2,982 2,982 (2,982 ± 0) +0.0%
✅ box_pyramid_4 4096 gpu ndarray - - 2,982 2,982 (2,982 ± 0) +0.0%
⚠️ box_pyramid_5 4096 gpu field - - 6,598 7,020 (6,682 ± 165) -6.0%
⚠️ box_pyramid_5 4096 gpu ndarray - - 6,598 7,020 (6,682 ± 165) -6.0%
✅ box_pyramid_6 4096 gpu field False - 9,628 9,720 (9,658 ± 32) -0.9%
✅ box_pyramid_6 4096 gpu field True - 10,214 10,214 (10,214 ± 0) +0.0%
✅ box_pyramid_6 4096 gpu ndarray False - 9,628 9,720 (9,646 ± 36) -0.9%
✅ box_pyramid_6 4096 gpu ndarray True - 10,214 10,214 (10,214 ± 0) +0.0%
⚠️ dex_hand 4096 gpu field - - 9,050 9,908 (9,221 ± 336) -8.7%
⚠️ dex_hand 4096 gpu ndarray - - 9,050 9,908 (9,221 ± 336) -8.7%
✅ duck_in_box_easy 30000 gpu field False - 3,386 3,378 (3,377 ± 0) +0.2%
✅ duck_in_box_easy 30000 gpu field True - 3,986 3,984 (3,988 ± 4) +0.1%
✅ duck_in_box_easy 30000 gpu ndarray False - 3,378 3,352 (3,348 ± 3) +0.8%
✅ duck_in_box_easy 30000 gpu ndarray True - 3,986 3,962 (3,956 ± 4) +0.6%
✅ duck_in_box_hard 0 cpu field - - 8 8 (8 ± 0) +0.0%
✅ duck_in_box_hard 0 cpu ndarray - - 8 8 (8 ± 0) +0.0%
✅ duck_in_box_hard 30000 gpu field False - 13,498 13,490 (13,492 ± 3) +0.1%
✅ duck_in_box_hard 30000 gpu field True - 14,098 14,096 (14,097 ± 0) +0.0%
✅ duck_in_box_hard 30000 gpu ndarray False - 13,490 13,426 (13,426 ± 3) +0.5%
✅ duck_in_box_hard 30000 gpu ndarray True - 14,066 14,064 (14,069 ± 4) +0.0%
✅ franka 30000 gpu field - - 16,292 16,810 (16,395 ± 203) -3.1%
✅ franka 30000 gpu ndarray - - 16,260 16,682 (16,344 ± 165) -2.5%
⚠️ franka_accessors 0 cpu field - - 1,304 1,644 (1,306 ± 165) -20.7%
⚠️ franka_accessors 0 cpu ndarray - - 1,400 1,644 (1,306 ± 165) -14.8%
✅ franka_accessors 30000 gpu field - - 16,380 16,706 (16,393 ± 156) -2.0%
✅ franka_accessors 30000 gpu ndarray - - 16,284 16,704 (16,348 ± 174) -2.5%
✅ franka_free 30000 gpu field - - 15,920 15,908 (15,922 ± 29) +0.1%
✅ franka_free 30000 gpu ndarray - - 15,876 15,876 (15,878 ± 3) +0.0%
⚠️ franka_random 0 cpu field - - 1,304 1,644 (1,306 ± 165) -20.7%
⚠️ franka_random 0 cpu ndarray - - 1,400 1,644 (1,306 ± 165) -14.8%
✅ franka_random 30000 gpu field False - 15,908 15,908 (15,910 ± 3) +0.0%
✅ franka_random 30000 gpu field True - 16,570 16,662 (16,600 ± 32) -0.6%
✅ franka_random 30000 gpu field - CG 16,034 16,060 (15,968 ± 46) -0.2%
✅ franka_random 30000 gpu field - Newton 16,290 16,712 (16,387 ± 159) -2.5%
✅ franka_random 30000 gpu ndarray False - 15,876 15,876 (15,876 ± 0) +0.0%
✅ franka_random 30000 gpu ndarray True - 16,570 16,630 (16,568 ± 32) -0.4%
✅ franka_random 30000 gpu ndarray - CG 15,938 15,998 (15,936 ± 32) -0.4%
✅ franka_random 30000 gpu ndarray - Newton 16,290 16,680 (16,361 ± 160) -2.3%
⚠️ g1_fall 4096 gpu field - Newton 4,768 4,984 (4,811 ± 84) -4.3%
⚠️ g1_fall 4096 gpu ndarray - Newton 4,768 4,984 (4,811 ± 84) -4.3%
✅ go2 4096 gpu field False CG 3,616 3,708 (3,634 ± 36) -2.5%
⚠️ go2 4096 gpu field False Newton 3,968 4,390 (4,052 ± 165) -9.6%
✅ go2 4096 gpu field True - 4,248 4,340 (4,272 ± 35) -2.1%
✅ go2 4096 gpu ndarray False CG 3,616 3,708 (3,634 ± 36) -2.5%
⚠️ go2 4096 gpu ndarray False Newton 3,968 4,390 (4,052 ± 165) -9.6%
✅ go2 4096 gpu ndarray True - 4,248 4,340 (4,266 ± 36) -2.1%
⚠️ shadow_hand_cubes 0 cpu field - - 1,344 1,652 (1,314 ± 165) -18.6%
⚠️ shadow_hand_cubes 0 cpu ndarray - - 1,440 1,652 (1,314 ± 165) -12.8%
⚠️ shadow_hand_cubes_sparse 0 cpu field - - 1,304 1,644 (1,306 ± 165) -20.7%
⚠️ shadow_hand_cubes_sparse 0 cpu ndarray - - 1,400 1,644 (1,306 ± 165) -14.8%

Baselines considered: 5 commits

  • Commit 1: 2f0feff

  • Commit 2: 5450d06

  • Commit 3: 6e3f9f3

  • Commit 4: 4b6d20b

  • Commit 5: 94442ac

  • (*1) last: last commit on main, mean/std: stats over commit hashes 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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