{ "branch_label": "origin-main", "git_branch": "detached", "git_commit": "2c24200200b16c5cb9ce70b724d2eab26dd86234", "repo": "C:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench", "device": "cuda:0", "repeats": 1, "world_counts": [ 1, 10, 100, 512, 1024, 2048, 4096, 8192 ], "created_at": "2026-06-15 16:45:45 -0700", "python": "3.12.3 (tags/v3.12.3:f6650f9, Apr 9 2024, 14:05:25) [MSC v.1938 64 bit (AMD64)]", "platform": "Windows-11-10.0.22635-SP0", "examples": [ { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 99.71379999478813, "rss_before_mb": 1106.125, "rss_after_mb": 1121.3359375, "rss_delta_mb": 15.2109375, "rss_peak_delta_mb": 15.2109375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 4.287100791931152, "warp_mempool_delta_mb": 4.287100791931152, "self_before": { "body_count": 22, "joint_count": 22, "joint_dof_count": 22, "shape_count": 39, "world_count": 1 }, "self_after": { "body_count": 22, "joint_count": 22, "joint_dof_count": 22, "shape_count": 39, "world_count": 1 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 1, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 108.9295999991009, "rss_before_mb": 1099.16015625, "rss_after_mb": 1115.83984375, "rss_delta_mb": 16.6796875, "rss_peak_delta_mb": 16.6796875, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 4.478795051574707, "warp_mempool_delta_mb": 4.478795051574707, "self_before": { "body_count": 220, "joint_count": 220, "joint_dof_count": 220, "shape_count": 381, "world_count": 10 }, "self_after": { "body_count": 220, "joint_count": 220, "joint_dof_count": 220, "shape_count": 381, "world_count": 10 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 10, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 159.10150000127032, "rss_before_mb": 1112.08203125, "rss_after_mb": 1135.98046875, "rss_delta_mb": 23.8984375, "rss_peak_delta_mb": 23.8984375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 6.395737648010254, "warp_mempool_delta_mb": 6.395737648010254, "self_before": { "body_count": 2200, "joint_count": 2200, "joint_dof_count": 2200, "shape_count": 3801, "world_count": 100 }, "self_after": { "body_count": 2200, "joint_count": 2200, "joint_dof_count": 2200, "shape_count": 3801, "world_count": 100 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 100, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 535.2923000027658, "rss_before_mb": 1174.8359375, "rss_after_mb": 1231.62890625, "rss_delta_mb": 56.79296875, "rss_peak_delta_mb": 56.79296875, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 15.172051429748535, "warp_mempool_delta_mb": 15.172051429748535, "self_before": { "body_count": 11264, "joint_count": 11264, "joint_dof_count": 11264, "shape_count": 19457, "world_count": 512 }, "self_after": { "body_count": 11264, "joint_count": 11264, "joint_dof_count": 11264, "shape_count": 19457, "world_count": 512 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 512, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 1209.8324999969918, "rss_before_mb": 1250.2890625, "rss_after_mb": 1348.5625, "rss_delta_mb": 98.2734375, "rss_peak_delta_mb": 98.2734375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 26.080254554748535, "warp_mempool_delta_mb": 26.080254554748535, "self_before": { "body_count": 22528, "joint_count": 22528, "joint_dof_count": 22528, "shape_count": 38913, "world_count": 1024 }, "self_after": { "body_count": 22528, "joint_count": 22528, "joint_dof_count": 22528, "shape_count": 38913, "world_count": 1024 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 1024, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 2432.948200003011, "rss_before_mb": 1414.0234375, "rss_after_mb": 1579.9140625, "rss_delta_mb": 165.890625, "rss_peak_delta_mb": 165.890625, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 47.895684242248535, "warp_mempool_delta_mb": 47.895684242248535, "self_before": { "body_count": 45056, "joint_count": 45056, "joint_dof_count": 45056, "shape_count": 77825, "world_count": 2048 }, "self_after": { "body_count": 45056, "joint_count": 45056, "joint_dof_count": 45056, "shape_count": 77825, "world_count": 2048 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 2048, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 4856.377299991436, "rss_before_mb": 1713.66796875, "rss_after_mb": 2043.1953125, "rss_delta_mb": 329.52734375, "rss_peak_delta_mb": 329.52734375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 91.52654361724854, "warp_mempool_delta_mb": 91.52654361724854, "self_before": { "body_count": 90112, "joint_count": 90112, "joint_dof_count": 90112, "shape_count": 155649, "world_count": 4096 }, "self_after": { "body_count": 90112, "joint_count": 90112, "joint_dof_count": 90112, "shape_count": 155649, "world_count": 4096 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 4096, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_allegro_hand", "example": "robot_allegro_hand", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 10274.361400006455, "rss_before_mb": 2310.39453125, "rss_after_mb": 2923.296875, "rss_delta_mb": 612.90234375, "rss_peak_delta_mb": 612.90234375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 178.78826236724854, "warp_mempool_delta_mb": 178.78826236724854, "self_before": { "body_count": 180224, "joint_count": 180224, "joint_dof_count": 180224, "shape_count": 311297, "world_count": 8192 }, "self_after": { "body_count": 180224, "joint_count": 180224, "joint_dof_count": 180224, "shape_count": 311297, "world_count": 8192 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 8192, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /World/envs/env_0/object/DexCube has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\nC:\\Users\\eric-\\source\\repos\\newton6-origin-main-bench\\newton\\_src\\sim\\builder.py:3008: UserWarning: Body /World/envs/env_0/object/DexCube: authored mass and density without authored diagonalInertia. Ignoring body-level density.\n return parse_usd(\n" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 54.35120000038296, "rss_before_mb": 855.8671875, "rss_after_mb": 872.6953125, "rss_delta_mb": 16.828125, "rss_peak_delta_mb": 16.828125, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 2.134181022644043, "warp_mempool_delta_mb": 2.134181022644043, "self_before": { "body_count": 17, "joint_count": 17, "joint_dof_count": 18, "shape_count": 56, "world_count": 1 }, "self_after": { "body_count": 17, "joint_count": 17, "joint_dof_count": 18, "shape_count": 56, "world_count": 1 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 1, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 62.851300011971034, "rss_before_mb": 857.76171875, "rss_after_mb": 874.71484375, "rss_delta_mb": 16.953125, "rss_peak_delta_mb": 16.953125, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 2.367314338684082, "warp_mempool_delta_mb": 2.367314338684082, "self_before": { "body_count": 170, "joint_count": 170, "joint_dof_count": 180, "shape_count": 551, "world_count": 10 }, "self_after": { "body_count": 170, "joint_count": 170, "joint_dof_count": 180, "shape_count": 551, "world_count": 10 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 10, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 173.26060000050347, "rss_before_mb": 878.1484375, "rss_after_mb": 909.1484375, "rss_delta_mb": 31.0, "rss_peak_delta_mb": 31.0, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 4.698647499084473, "warp_mempool_delta_mb": 4.698647499084473, "self_before": { "body_count": 1700, "joint_count": 1700, "joint_dof_count": 1800, "shape_count": 5501, "world_count": 100 }, "self_after": { "body_count": 1700, "joint_count": 1700, "joint_dof_count": 1800, "shape_count": 5501, "world_count": 100 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 100, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 727.9029999917839, "rss_before_mb": 972.01171875, "rss_after_mb": 1073.85546875, "rss_delta_mb": 101.84375, "rss_peak_delta_mb": 101.84375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 15.375855445861816, "warp_mempool_delta_mb": 15.375855445861816, "self_before": { "body_count": 8704, "joint_count": 8704, "joint_dof_count": 9216, "shape_count": 28161, "world_count": 512 }, "self_after": { "body_count": 8704, "joint_count": 8704, "joint_dof_count": 9216, "shape_count": 28161, "world_count": 512 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 512, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 1428.1444999942323, "rss_before_mb": 1087.5859375, "rss_after_mb": 1266.7109375, "rss_delta_mb": 179.125, "rss_peak_delta_mb": 179.125, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 28.643433570861816, "warp_mempool_delta_mb": 28.643433570861816, "self_before": { "body_count": 17408, "joint_count": 17408, "joint_dof_count": 18432, "shape_count": 56321, "world_count": 1024 }, "self_after": { "body_count": 17408, "joint_count": 17408, "joint_dof_count": 18432, "shape_count": 56321, "world_count": 1024 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 1024, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 3060.1571000006516, "rss_before_mb": 1322.27734375, "rss_after_mb": 1654.54296875, "rss_delta_mb": 332.265625, "rss_peak_delta_mb": 332.265625, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 55.178589820861816, "warp_mempool_delta_mb": 55.178589820861816, "self_before": { "body_count": 34816, "joint_count": 34816, "joint_dof_count": 36864, "shape_count": 112641, "world_count": 2048 }, "self_after": { "body_count": 34816, "joint_count": 34816, "joint_dof_count": 36864, "shape_count": 112641, "world_count": 2048 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 2048, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 7757.663800002774, "rss_before_mb": 1777.82421875, "rss_after_mb": 2407.234375, "rss_delta_mb": 629.41015625, "rss_peak_delta_mb": 629.41015625, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 108.24890232086182, "warp_mempool_delta_mb": 108.24890232086182, "self_before": { "body_count": 69632, "joint_count": 69632, "joint_dof_count": 73728, "shape_count": 225281, "world_count": 4096 }, "self_after": { "body_count": 69632, "joint_count": 69632, "joint_dof_count": 73728, "shape_count": 225281, "world_count": 4096 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 4096, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_anymal_d", "example": "robot_anymal_d", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 23184.559100001934, "rss_before_mb": 2682.33984375, "rss_after_mb": 3915.640625, "rss_delta_mb": 1233.30078125, "rss_peak_delta_mb": 1233.30078125, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 214.39050388336182, "warp_mempool_delta_mb": 214.39050388336182, "self_before": { 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"newton.examples.robot.example_robot_panda_hydro", "example": "robot_panda_hydro", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 168.1003999983659, "rss_before_mb": 1176.23828125, "rss_after_mb": 1177.80859375, "rss_delta_mb": 1.5703125, "rss_peak_delta_mb": 1.5703125, "warp_mempool_before_mb": 0.021941184997558594, "warp_mempool_after_mb": 34.12246513366699, "warp_mempool_delta_mb": 34.100523948669434, "self_before": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 0 }, "self_after": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 1 }, "source_before": null }, { "method": "finalize", "status": "ok", "elapsed_ms": 929.7219000000041, "rss_before_mb": 1262.3828125, "rss_after_mb": 1307.33203125, "rss_delta_mb": 44.94921875, "rss_peak_delta_mb": 44.94921875, "warp_mempool_before_mb": 34.12246513366699, "warp_mempool_after_mb": 82.32445049285889, "warp_mempool_delta_mb": 48.201985359191895, "self_before": { "body_count": 8192, "joint_count": 8192, "joint_dof_count": 10752, "shape_count": 35841, "world_count": 512 }, "self_after": { "body_count": 8192, "joint_count": 8192, "joint_dof_count": 10752, "shape_count": 35841, "world_count": 512 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 2, "world_count": 512, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_panda_hydro", "example": "robot_panda_hydro", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 121.33900000480935, "rss_before_mb": 1177.0546875, "rss_after_mb": 1178.3125, "rss_delta_mb": 1.2578125, "rss_peak_delta_mb": 1.2578125, "warp_mempool_before_mb": 0.021941184997558594, "warp_mempool_after_mb": 34.12246513366699, "warp_mempool_delta_mb": 34.100523948669434, "self_before": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 0 }, "self_after": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 1 }, "source_before": null }, { "method": "finalize", "status": "ok", "elapsed_ms": 1804.2129000095883, "rss_before_mb": 1350.96484375, "rss_after_mb": 1434.55859375, "rss_delta_mb": 83.59375, "rss_peak_delta_mb": 83.59375, "warp_mempool_before_mb": 34.12246513366699, "warp_mempool_after_mb": 96.46165752410889, "warp_mempool_delta_mb": 62.339192390441895, "self_before": { "body_count": 16384, "joint_count": 16384, "joint_dof_count": 21504, "shape_count": 71681, "world_count": 1024 }, "self_after": { "body_count": 16384, "joint_count": 16384, "joint_dof_count": 21504, "shape_count": 71681, "world_count": 1024 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 2, "world_count": 1024, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_panda_hydro", "example": "robot_panda_hydro", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 118.5469999909401, "rss_before_mb": 1175.85546875, "rss_after_mb": 1177.2890625, "rss_delta_mb": 1.43359375, "rss_peak_delta_mb": 1.43359375, "warp_mempool_before_mb": 0.021941184997558594, "warp_mempool_after_mb": 34.12246513366699, "warp_mempool_delta_mb": 34.100523948669434, "self_before": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 0 }, "self_after": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 1 }, "source_before": null }, { "method": "finalize", "status": "ok", "elapsed_ms": 3663.2119999994757, "rss_before_mb": 1518.32421875, "rss_after_mb": 1679.2890625, "rss_delta_mb": 160.96484375, "rss_peak_delta_mb": 160.96484375, "warp_mempool_before_mb": 34.12246513366699, "warp_mempool_after_mb": 124.73704814910889, "warp_mempool_delta_mb": 90.6145830154419, "self_before": { "body_count": 32768, "joint_count": 32768, "joint_dof_count": 43008, "shape_count": 143361, "world_count": 2048 }, "self_after": { "body_count": 32768, "joint_count": 32768, "joint_dof_count": 43008, "shape_count": 143361, "world_count": 2048 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 2, "world_count": 2048, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_panda_hydro", "example": "robot_panda_hydro", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 119.74540000665002, "rss_before_mb": 1176.31640625, "rss_after_mb": 1177.78515625, "rss_delta_mb": 1.46875, "rss_peak_delta_mb": 1.46875, "warp_mempool_before_mb": 0.021941184997558594, "warp_mempool_after_mb": 34.12246513366699, "warp_mempool_delta_mb": 34.100523948669434, "self_before": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 0 }, "self_after": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 1 }, "source_before": null }, { "method": "finalize", "status": "ok", "elapsed_ms": 8169.3450000020675, "rss_before_mb": 1865.83203125, "rss_after_mb": 2174.1171875, "rss_delta_mb": 308.28515625, "rss_peak_delta_mb": 308.28515625, "warp_mempool_before_mb": 34.12246513366699, "warp_mempool_after_mb": 181.2878293991089, "warp_mempool_delta_mb": 147.1653642654419, "self_before": { "body_count": 65536, "joint_count": 65536, "joint_dof_count": 86016, "shape_count": 286721, "world_count": 4096 }, "self_after": { "body_count": 65536, "joint_count": 65536, "joint_dof_count": 86016, "shape_count": 286721, "world_count": 4096 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 2, "world_count": 4096, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_panda_hydro", "example": "robot_panda_hydro", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 121.48529999831226, "rss_before_mb": 1182.0703125, "rss_after_mb": 1183.1484375, "rss_delta_mb": 1.078125, "rss_peak_delta_mb": 1.078125, "warp_mempool_before_mb": 0.021941184997558594, "warp_mempool_after_mb": 34.12246513366699, "warp_mempool_delta_mb": 34.100523948669434, "self_before": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 0 }, "self_after": { "body_count": 16, "joint_count": 16, "joint_dof_count": 21, "shape_count": 70, "world_count": 1 }, "source_before": null }, { "method": "finalize", "status": "ok", "elapsed_ms": 16155.231900003855, "rss_before_mb": 2537.43359375, "rss_after_mb": 3163.84765625, "rss_delta_mb": 626.4140625, "rss_peak_delta_mb": 626.4140625, "warp_mempool_before_mb": 34.12246513366699, "warp_mempool_after_mb": 294.3903684616089, "warp_mempool_delta_mb": 260.2679033279419, "self_before": { "body_count": 131072, "joint_count": 131072, "joint_dof_count": 172032, "shape_count": 573441, "world_count": 8192 }, "self_after": { "body_count": 131072, "joint_count": 131072, "joint_dof_count": 172032, "shape_count": 573441, "world_count": 8192 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 2, "world_count": 8192, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 168.41450000356417, "rss_before_mb": 862.515625, "rss_after_mb": 880.84375, "rss_delta_mb": 18.328125, "rss_peak_delta_mb": 18.328125, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 36.205763816833496, "warp_mempool_delta_mb": 36.205763816833496, "self_before": { "body_count": 8, "joint_count": 8, "joint_dof_count": 6, "shape_count": 41, "world_count": 1 }, "self_after": { "body_count": 8, "joint_count": 8, "joint_dof_count": 6, "shape_count": 41, "world_count": 1 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 1, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 176.86010000761598, "rss_before_mb": 861.8125, "rss_after_mb": 885.859375, "rss_delta_mb": 24.046875, "rss_peak_delta_mb": 24.046875, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 36.35577869415283, "warp_mempool_delta_mb": 36.35577869415283, "self_before": { "body_count": 80, "joint_count": 80, "joint_dof_count": 60, "shape_count": 401, "world_count": 10 }, "self_after": { "body_count": 80, "joint_count": 80, "joint_dof_count": 60, "shape_count": 401, "world_count": 10 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 10, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 235.99370000010822, "rss_before_mb": 877.06640625, "rss_after_mb": 902.4375, "rss_delta_mb": 25.37109375, "rss_peak_delta_mb": 25.37109375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 37.85592746734619, "warp_mempool_delta_mb": 37.85592746734619, "self_before": { "body_count": 800, "joint_count": 800, "joint_dof_count": 600, "shape_count": 4001, "world_count": 100 }, "self_after": { "body_count": 800, "joint_count": 800, "joint_dof_count": 600, "shape_count": 4001, "world_count": 100 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 100, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 540.9843999950681, "rss_before_mb": 935.390625, "rss_after_mb": 994.26171875, "rss_delta_mb": 58.87109375, "rss_peak_delta_mb": 58.87109375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 44.72327518463135, "warp_mempool_delta_mb": 44.72327518463135, "self_before": { "body_count": 4096, "joint_count": 4096, "joint_dof_count": 3072, "shape_count": 20481, "world_count": 512 }, "self_after": { "body_count": 4096, "joint_count": 4096, "joint_dof_count": 3072, "shape_count": 20481, "world_count": 512 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 512, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 998.0860000068787, "rss_before_mb": 1008.96875, "rss_after_mb": 1111.79296875, "rss_delta_mb": 102.82421875, "rss_peak_delta_mb": 102.82421875, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 53.25745487213135, "warp_mempool_delta_mb": 53.25745487213135, "self_before": { "body_count": 8192, "joint_count": 8192, "joint_dof_count": 6144, "shape_count": 40961, "world_count": 1024 }, "self_after": { "body_count": 8192, "joint_count": 8192, "joint_dof_count": 6144, "shape_count": 40961, "world_count": 1024 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 1024, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 1906.4886000123806, "rss_before_mb": 1153.6171875, "rss_after_mb": 1330.86328125, "rss_delta_mb": 177.24609375, "rss_peak_delta_mb": 177.24609375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 70.32581424713135, "warp_mempool_delta_mb": 70.32581424713135, "self_before": { "body_count": 16384, "joint_count": 16384, "joint_dof_count": 12288, "shape_count": 81921, "world_count": 2048 }, "self_after": { "body_count": 16384, "joint_count": 16384, "joint_dof_count": 12288, "shape_count": 81921, "world_count": 2048 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 2048, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 4385.473100002855, "rss_before_mb": 1436.72265625, "rss_after_mb": 1773.5859375, "rss_delta_mb": 336.86328125, "rss_peak_delta_mb": 336.86328125, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 104.47620487213135, "warp_mempool_delta_mb": 104.47620487213135, "self_before": { "body_count": 32768, "joint_count": 32768, "joint_dof_count": 24576, "shape_count": 163841, "world_count": 4096 }, "self_after": { "body_count": 32768, "joint_count": 32768, "joint_dof_count": 24576, "shape_count": 163841, "world_count": 4096 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 4096, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" }, { "module": "newton.examples.robot.example_robot_ur10", "example": "robot_ur10", "status": "ok", "calls": [ { "method": "finalize", "status": "ok", "elapsed_ms": 9645.192099997075, "rss_before_mb": 2015.6171875, "rss_after_mb": 2649.9921875, "rss_delta_mb": 634.375, "rss_peak_delta_mb": 634.375, "warp_mempool_before_mb": 0.0, "warp_mempool_after_mb": 172.77698612213135, "warp_mempool_delta_mb": 172.77698612213135, "self_before": { "body_count": 65536, "joint_count": 65536, "joint_dof_count": 49152, "shape_count": 327681, "world_count": 8192 }, "self_after": { "body_count": 65536, "joint_count": 65536, "joint_dof_count": 49152, "shape_count": 327681, "world_count": 8192 }, "source_before": null } ], "elapsed_setup_s": null, "stop_after_finalize_count": 1, "world_count": 8192, "completed_at": "final measured ModelBuilder.finalize()", "repeat": 1, "returncode": 0, "stdout_tail": "", "stderr_tail": "Warning: The rigid body at /ur10/ee_link has a possibly invalid inertia tensor of {1.0, 1.0, 1.0}, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for. If you do not want the objects to collide, add colliders regardless then disable the 'enable collision' property. [python]\n" } ] }