aa6c0fb

nworld=8192

mjwarp-testspeed mujoco_playground/_src/manipulation/franka_emika_panda/xmls/mjx_single_cube.xml --nworld=8192 --nconmax=24 --njmax=128 --memory

Loading model from: mujoco_playground/_src/manipulation/franka_emika_panda/xmls/mjx_single_cube.xml...
  nbody: 14 nv: 15 ngeom: 83 nu: 8 is_sparse: False graph_conditional: True
  broadphase: NXN broadphase_filter: PLANE|SPHERE|OBB
  solver: NEWTON iterations: 5 linesearch: iterative ls_iterations: 8
  cone: PYRAMIDAL integrator: IMPLICITFAST
Data
  nworld: 8192 naconmax: 196608 njmax: 128

Rolling out 1000 steps at dt = 0.005...

Summary for 8192 parallel rollouts

Total JIT time: 0.74 s
Total simulation time: 0.95 s
Total steps per second: 8,643,320
Total realtime factor: 43,216.60 x
Total time per step: 115.70 ns
Total converged worlds: 8192 / 8192

Model memory 19.35 MB (5.04% of used memory):
 mesh_vert: 4.54 MB (1.18%)
 mesh_normal: 4.54 MB (1.18%)
Data memory 268.52 MB (69.93% of used memory):
 xmat: 3.94 MB (1.03%)
 ximat: 3.94 MB (1.03%)
 geom_xpos: 7.78 MB (2.03%)
 geom_xmat: 23.34 MB (6.08%)
 cinert: 4.38 MB (1.14%)
 crb: 4.38 MB (1.14%)
 qM: 8.00 MB (2.08%)
 qLD: 7.03 MB (1.83%)
 contact.frame: 6.75 MB (1.76%)
 efc.type: 4.00 MB (1.04%)
 efc.id: 4.00 MB (1.04%)
 efc.J: 64.00 MB (16.67%)
 efc.pos: 4.00 MB (1.04%)
 efc.margin: 4.00 MB (1.04%)
 efc.D: 4.00 MB (1.04%)
 efc.vel: 4.00 MB (1.04%)
 efc.aref: 4.00 MB (1.04%)
 efc.frictionloss: 4.00 MB (1.04%)
 efc.force: 4.00 MB (1.04%)
 efc.Jaref: 4.00 MB (1.04%)
 efc.state: 4.00 MB (1.04%)
 efc.jv: 4.00 MB (1.04%)
 efc.quad: 12.00 MB (3.12%)
Other memory: 96.13 MB (25.03% of used memory)
Total memory: 384.00 MB (0.79% of total device memory)

Optimize GJK device memory usage #816

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