{
  "metadata": {
    "title": "Newton PR 3187 Isaac Lab Startup Benchmark",
    "generated_at_utc": "2026-06-16T05:53:38+00:00",
    "isaaclab_worktree": "/home/horde/repos/IsaacLab-newton-bench",
    "isaaclab_commit": "a59603d2eaf2",
    "newton_revisions": {
      "main": {
        "label": "Newton main",
        "commit": "2c24200200b1",
        "worktree": "/home/horde/repos/newton-bench-main",
        "ref": "origin/main"
      },
      "pr3187": {
        "label": "PR 3187",
        "commit": "172dbda45f6a",
        "worktree": "/home/horde/repos/newton-bench-pr3187",
        "ref": "origin/pr/3187",
        "url": "https://github.com/newton-physics/newton/pull/3187"
      }
    },
    "benchmark_backend": "summary",
    "physics_preset": "presets=newton_mjwarp",
    "cpu_limit": {
      "method": "taskset affinity inherited by benchmark subprocesses",
      "cpu_list": "0,1",
      "observed_nproc": 4,
      "effective_cpu_fraction": "50% of the 4-CPU quota visible to nproc"
    },
    "notes": [
      "All reported Isaac Lab samples were rerun at 1024 environments under a 2-logical-CPU affinity cap: taskset -c 0,1.",
      "Single raw sample per task/revision; no repeat medians.",
      "The benchmark command used uv run --no-sync so Isaac Lab retained the editable Newton worktree install for each revision.",
      "Ant, Humanoid, G1, and Franka runs include LD_LIBRARY_PATH=.venv/lib/python3.12/site-packages/nvidia/cu13/lib so PyTorch/Triton can find libnvrtc-builtins.so.13.0.",
      "Franka uses Isaac-Reach-Franka because Isaac-Lift-Cube-Franka does not expose the newton_mjwarp preset in this Isaac Lab checkout.",
      "Task IDs are the names registered by this Isaac Lab checkout; some keep their -v0 suffix and some do not."
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