Add warnings for unsupported collision shapes #463
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Benchmark
| Benchmark suite | Current: 0e7b654 | Previous: cb36385 | Ratio |
|---|---|---|---|
tests/test_benchmark.py::test_forward_dynamics_aba[1] |
386.2311257736702 iter/sec (stddev: 0.000009900777401474935) |
386.2552251710958 iter/sec (stddev: 0.00020833313469613508) |
1.00 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
29.143415733847775 iter/sec (stddev: 0.00012557199870452215) |
25.623251572538486 iter/sec (stddev: 0.000628276488211365) |
0.88 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
356.0936703433238 iter/sec (stddev: 0.000012274755573454192) |
329.6208935032452 iter/sec (stddev: 0.00017678390636095912) |
0.93 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
16.123304339459068 iter/sec (stddev: 0.00021394885301169732) |
14.042023282252773 iter/sec (stddev: 0.0004701444679618353) |
0.87 |
tests/test_benchmark.py::test_forward_kinematics[1] |
451.4778403239689 iter/sec (stddev: 0.000009003689032618078) |
505.33330250290584 iter/sec (stddev: 0.00003595675660629741) |
1.12 |
tests/test_benchmark.py::test_forward_kinematics[128] |
31.583356155519432 iter/sec (stddev: 0.00010021425516702824) |
29.344980191633002 iter/sec (stddev: 0.00036979712165659257) |
0.93 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
183.9903388421664 iter/sec (stddev: 0.0000397189984385854) |
204.56693174871816 iter/sec (stddev: 0.0008038774133928276) |
1.11 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
176.8199367828879 iter/sec (stddev: 0.00001814244523306422) |
185.32420162463208 iter/sec (stddev: 0.001038192142422702) |
1.05 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
530.211648319944 iter/sec (stddev: 0.000006945671464293086) |
584.370298139834 iter/sec (stddev: 0.00001860199318220017) |
1.10 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
537.0557550587141 iter/sec (stddev: 0.000007035464307423672) |
544.3999181675149 iter/sec (stddev: 0.00023044493810550008) |
1.01 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
413.78264033311996 iter/sec (stddev: 0.000012213173198408038) |
410.73560028011394 iter/sec (stddev: 0.00022687143203532596) |
0.99 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
302.42843462791024 iter/sec (stddev: 0.000008253678112412844) |
199.38111540598362 iter/sec (stddev: 0.001457819036270435) |
0.66 |
tests/test_benchmark.py::test_soft_contact_model[1] |
350.47135903590555 iter/sec (stddev: 0.000011109219662557693) |
337.6366937284971 iter/sec (stddev: 0.00011127692295687577) |
0.96 |
tests/test_benchmark.py::test_soft_contact_model[128] |
29.65769304217889 iter/sec (stddev: 0.00009861338656628468) |
26.884777773429075 iter/sec (stddev: 0.0006199761164350777) |
0.91 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
40.384491205910905 iter/sec (stddev: 0.000026360461863967124) |
31.251271243159007 iter/sec (stddev: 0.007996216837436577) |
0.77 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.7261292746579053 iter/sec (stddev: 0.00013955503617461544) |
0.3460028427282277 iter/sec (stddev: 0.0005242995729556135) |
0.48 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
74.80877373792427 iter/sec (stddev: 0.000035178588538368696) |
79.40038194340299 iter/sec (stddev: 0.002071043703591531) |
1.06 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
6.3644052532122055 iter/sec (stddev: 0.00027888773172814554) |
6.11243560362339 iter/sec (stddev: 0.0013425887323580527) |
0.96 |
tests/test_benchmark.py::test_simulation_step[1] |
69.46563049722944 iter/sec (stddev: 0.000029964389545954907) |
69.93411634859267 iter/sec (stddev: 0.0027247172648478526) |
1.01 |
tests/test_benchmark.py::test_simulation_step[128] |
5.394493894577985 iter/sec (stddev: 0.00019634350079365638) |
5.076712249345317 iter/sec (stddev: 0.00163782888871275) |
0.94 |
This comment was automatically generated by workflow using github-action-benchmark.
flferretti
requested review from
CarlottaSartore and
xela-95
and removed request for
xela-95
xela-95
approved these changes
Sep 15, 2025
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This PR introduces warnings for unsupported collision shapes in the collision detection logic.
Fix #459
📚 Documentation preview 📚: https://jaxsim--463.org.readthedocs.build//463/