{
  "assets": {
    "leap_hand_right_mjcf": {
      "eval_fk_timing": {
        "max_us": 383.3593335002661,
        "mean_us": 370.27862854301924,
        "median_us": 365.71649834513664,
        "min_us": 361.76005378365517
      },
      "kind": "mjcf",
      "solver_step_timing": {
        "featherstone": {
          "max_us": 4398.698732256889,
          "mean_us": 4364.9959688385325,
          "median_us": 4348.787106573582,
          "min_us": 4347.502067685127,
          "status": "ok"
        },
        "mujoco": {
          "max_us": 4672.0074489712715,
          "mean_us": 4325.423389673233,
          "median_us": 4305.524006485939,
          "min_us": 3998.7387135624886,
          "status": "ok"
        },
        "semi_implicit": {
          "max_us": 197.8447660803795,
          "mean_us": 184.61470802625018,
          "median_us": 182.11156129837036,
          "min_us": 173.88779670000076,
          "status": "ok"
        },
        "vbd": {
          "max_us": 4653.400182723999,
          "mean_us": 4436.986769239108,
          "median_us": 4371.8066066503525,
          "min_us": 4285.753518342972,
          "status": "ok"
        },
        "xpbd": {
          "max_us": 712.183490395546,
          "mean_us": 609.2692414919536,
          "median_us": 563.0530416965485,
          "min_us": 552.5711923837662,
          "status": "ok"
        }
      },
      "source": "/home/horde/.cache/newton/mujoco_menagerie_leap_hand_d94a1630_feadf76d/leap_hand/right_hand.xml",
      "stats": {
        "body_count": 17,
        "equality_constraint_count": 0,
        "joint_coord_count": 16,
        "joint_count": 17,
        "joint_dof_count": 16,
        "mimic_constraint_count": 0,
        "mimic_joint_count": 0,
        "shape_count": 67
      },
      "video": "reports/mimic_joints_prototype/videos/leap_hand_right_mjcf.mp4"
    },
    "robotiq_2f85_v4_mjcf": {
      "eval_fk_timing": {
        "max_us": 367.8619861602783,
        "mean_us": 342.1228223790725,
        "median_us": 341.21787175536156,
        "min_us": 317.28860922157764
      },
      "kind": "mjcf",
      "solver_step_timing": {
        "featherstone": {
          "max_us": 872.4203333258629,
          "mean_us": 829.0625487764676,
          "median_us": 807.9886436462402,
          "min_us": 806.7786693572998,
          "status": "ok"
        },
        "mujoco": {
          "error": "ValueError: Error: mass and inertia of moving bodies must be larger than mjMINVAL\nElement name 'Dual_wrist_camera_worldbody_base_left_driver', id 2",
          "status": "error"
        },
        "semi_implicit": {
          "max_us": 220.13913840055466,
          "mean_us": 189.5845557252566,
          "median_us": 181.45442008972168,
          "min_us": 167.16010868549347,
          "status": "ok"
        },
        "vbd": {
          "max_us": 4189.165122807026,
          "mean_us": 3947.372610370318,
          "median_us": 3847.702406346798,
          "min_us": 3805.2503019571304,
          "status": "ok"
        },
        "xpbd": {
          "max_us": 774.1333916783333,
          "mean_us": 702.2850836316745,
          "median_us": 704.638659954071,
          "min_us": 628.083199262619,
          "status": "ok"
        }
      },
      "source": "/home/horde/.cache/newton/mujoco_menagerie_robotiq_2f85_v4_f233abbd_feadf76d/robotiq_2f85_v4/2f85.xml",
      "stats": {
        "body_count": 11,
        "equality_constraint_count": 3,
        "joint_coord_count": 6,
        "joint_count": 11,
        "joint_dof_count": 6,
        "mimic_constraint_count": 0,
        "mimic_joint_count": 0,
        "shape_count": 4
      },
      "video": "reports/mimic_joints_prototype/videos/robotiq_2f85_v4_mjcf.mp4"
    },
    "robotiq_2f85_v4_usd": {
      "eval_fk_timing": {
        "max_us": 322.8669986128807,
        "mean_us": 316.44629004100955,
        "median_us": 320.20043581724167,
        "min_us": 306.2714356929064
      },
      "kind": "usd",
      "solver_step_timing": {
        "featherstone": {
          "max_us": 817.556120455265,
          "mean_us": 815.3032511472703,
          "median_us": 815.0966838002205,
          "min_us": 813.2569491863251,
          "status": "ok"
        },
        "mujoco": {
          "max_us": 38269.83254402876,
          "mean_us": 15423.025066653885,
          "median_us": 4076.3229131698613,
          "min_us": 3922.9197427630424,
          "status": "ok"
        },
        "semi_implicit": {
          "max_us": 170.1684668660164,
          "mean_us": 159.37965363264084,
          "median_us": 156.36645257472992,
          "min_us": 151.6040414571762,
          "status": "ok"
        },
        "vbd": {
          "max_us": 4482.218809425831,
          "mean_us": 4383.274540305138,
          "median_us": 4468.214511871338,
          "min_us": 4199.390299618244,
          "status": "ok"
        },
        "xpbd": {
          "max_us": 515.9413442015648,
          "mean_us": 503.61206134160363,
          "median_us": 508.72694700956345,
          "min_us": 486.16789281368256,
          "status": "ok"
        }
      },
      "source": "/home/horde/apps/newton-assets/robotiq_2f85_v4/usd_structured/Dual_wrist_camera.usda",
      "stats": {
        "body_count": 11,
        "equality_constraint_count": 3,
        "joint_coord_count": 6,
        "joint_count": 11,
        "joint_dof_count": 6,
        "mimic_constraint_count": 0,
        "mimic_joint_count": 0,
        "shape_count": 28
      },
      "video": "reports/mimic_joints_prototype/videos/robotiq_2f85_v4_usd.mp4"
    },
    "shadow_hand_right_mjcf": {
      "eval_fk_timing": {
        "max_us": 336.77564933896065,
        "mean_us": 332.9009283334016,
        "median_us": 331.557122990489,
        "min_us": 330.3700126707554
      },
      "kind": "mjcf",
      "solver_step_timing": {
        "featherstone": {
          "max_us": 13536.912761628628,
          "mean_us": 13429.37555164099,
          "median_us": 13409.830629825592,
          "min_us": 13341.383263468742,
          "status": "ok"
        },
        "mujoco": {
          "error": "ValueError: Error: mass and inertia of moving bodies must be larger than mjMINVAL\nElement name 'right_shadow_hand_worldbody_rh_forearm_rh_wrist_rh_palm_rh_ffknuckle_rh_ffproximal_rh_ffmiddle_rh_ffdistal', id 7",
          "status": "error"
        },
        "semi_implicit": {
          "max_us": 196.18310034275055,
          "mean_us": 176.61545425653458,
          "median_us": 175.26857554912567,
          "min_us": 158.3946868777275,
          "status": "ok"
        },
        "vbd": {
          "max_us": 4185.820929706097,
          "mean_us": 4107.8103085358935,
          "median_us": 4085.230454802513,
          "min_us": 4052.379541099072,
          "status": "ok"
        },
        "xpbd": {
          "max_us": 502.9451102018356,
          "mean_us": 496.8162005146345,
          "median_us": 502.74394452571863,
          "min_us": 484.75954681634903,
          "status": "ok"
        }
      },
      "source": "/home/horde/.cache/newton/mujoco_menagerie_shadow_hand_46b0dcac_feadf76d/shadow_hand/right_hand.xml",
      "stats": {
        "body_count": 25,
        "equality_constraint_count": 0,
        "joint_coord_count": 24,
        "joint_count": 25,
        "joint_dof_count": 24,
        "mimic_constraint_count": 0,
        "mimic_joint_count": 0,
        "shape_count": 33
      },
      "video": "reports/mimic_joints_prototype/videos/shadow_hand_right_mjcf.mp4"
    },
    "synthetic_robotiq_urdf": {
      "eval_fk_timing": {
        "max_us": 313.5315142571926,
        "mean_us": 305.03137968480587,
        "median_us": 302.56379395723343,
        "min_us": 298.99883083999157
      },
      "kind": "urdf",
      "solver_step_timing": {
        "featherstone": {
          "max_us": 572.9397758841515,
          "mean_us": 529.9967403213183,
          "median_us": 515.1199176907539,
          "min_us": 501.9305273890496,
          "status": "ok"
        },
        "mujoco": {
          "error": "ValueError: Error: mass and inertia of moving bodies must be larger than mjMINVAL\nElement name 'robotiq_mimic_synthetic_driver', id 2",
          "status": "error"
        },
        "semi_implicit": {
          "max_us": 194.86304372549057,
          "mean_us": 169.08142715692523,
          "median_us": 157.20948576927185,
          "min_us": 155.17175197601318,
          "status": "ok"
        },
        "vbd": {
          "error": "NotImplementedError: SolverVBD rigid joints: JointType.MIMIC is not implemented yet (only CABLE, BALL, FIXED, REVOLUTE, PRISMATIC, and D6 are supported).",
          "status": "error"
        },
        "xpbd": {
          "max_us": 536.0152572393417,
          "mean_us": 513.372818628947,
          "median_us": 510.3960633277893,
          "min_us": 493.7071353197098,
          "status": "ok"
        }
      },
      "source": "inline synthetic URDF",
      "stats": {
        "body_count": 7,
        "equality_constraint_count": 0,
        "joint_coord_count": 1,
        "joint_count": 7,
        "joint_dof_count": 1,
        "mimic_constraint_count": 0,
        "mimic_joint_count": 5,
        "shape_count": 0
      }
    },
    "unitree_g1_with_hands_urdf": {
      "eval_fk_timing": {
        "max_us": 386.7705352604389,
        "mean_us": 384.44221330185735,
        "median_us": 385.540584102273,
        "min_us": 381.01552054286003
      },
      "kind": "urdf",
      "solver_step_timing": {
        "featherstone": {
          "max_us": 107153.18247675896,
          "mean_us": 107075.28634617726,
          "median_us": 107134.023681283,
          "min_us": 106938.65288048983,
          "status": "ok"
        },
        "mujoco": {
          "error": "ValueError: Error: mass and inertia of moving bodies must be larger than mjMINVAL\nElement name 'g1_29dof_with_hand_rev_1_0_waist_yaw_link', id 15",
          "status": "error"
        },
        "semi_implicit": {
          "max_us": 199.105404317379,
          "mean_us": 174.89350090424222,
          "median_us": 168.0433750152588,
          "min_us": 157.5317233800888,
          "status": "ok"
        },
        "vbd": {
          "max_us": 3967.448510229588,
          "mean_us": 3947.8223770856857,
          "median_us": 3948.930837213993,
          "min_us": 3927.087783813477,
          "status": "ok"
        },
        "xpbd": {
          "max_us": 504.42442297935486,
          "mean_us": 498.55957428614306,
          "median_us": 503.27740609645844,
          "min_us": 487.97689378261566,
          "status": "ok"
        }
      },
      "source": "/home/horde/apps/newton-assets/unitree_g1/urdf/g1_29dof_with_hand_rev_1_0.urdf",
      "stats": {
        "body_count": 53,
        "equality_constraint_count": 0,
        "joint_coord_count": 43,
        "joint_count": 53,
        "joint_dof_count": 43,
        "mimic_constraint_count": 0,
        "mimic_joint_count": 0,
        "shape_count": 101
      },
      "video": "reports/mimic_joints_prototype/videos/unitree_g1_with_hands_urdf.mp4"
    }
  },
  "device": "cuda:0",
  "newton_file": "/home/horde/apps/newton-dashboard/worktrees/pr--164/newton/__init__.py",
  "repeats": 3,
  "samples": 20,
  "solver_dt": 0.004166666666666667,
  "solver_repeats": 3,
  "solver_samples": 5
}
