[Lang] Inline AdStack ops on release LLVM codegen: dramatically reduces compile time for adstack-enabled reverse-mode kernels by duburcqa · Pull Request #584 · Genesis-Embodied-AI/quadrants

duburcqa · 2026-04-28T08:41:44Z

Reverse-mode AD on adstack-heavy kernels (deep static-unrolled bodies, many AD variables per iteration, plus dozens of 1-byte u1 / i8 branch-outcome snapshots) emits one heap-resident u64 count header per stack that every push / pop / top operation reads and writes through the runtime helpers stack_init / stack_push / stack_pop / stack_top_primal / stack_top_adjoint. LLVM cannot fold those loads / stores away because the stack pointer reaches the runtime through several getter calls that AA conservatively assumes alias arbitrary memory, so an unrolled body of N pushes emits N load + N store pairs against the same address. On large reverse-mode kernels the resulting flat PTX blocks dominate ptxas register-allocator and live-range cost. This PR replaces the helper-call sequence on the release-build LLVM codegen path with inline LLVM IR. Multi-slot stacks track the count in a per-task per-stack alloca i64 that mem2reg promotes to SSA so GVN folds consecutive count++ chains across straight-line unrolled bodies. Single-slot stacks (sizer-resolved max_size==1) skip the count alloca entirely - slot is provably slot 0 at every program point, so push / pop / loadtop reduce to constant-offset GEPs with no count state, no mem2reg recurrence, no SCEV induction-variable analysis. Debug builds keep the bounds-checking runtime helpers so any sizer bug surfaces as an overflow flag at sync.

TL;DR

Multi-slot release path: per-task per-stack alloca i64 replaces the heap-resident u64 count header. The alloca is created once in the task entry block (so mem2reg promotes it) and init-stored to zero at the AdStackAllocaStmt visit site (so an alloca nested inside a loop body restarts the count every iteration, matching the previous stack_init semantics).
Single-slot release path: when the sizer resolves a stack to compile-time max_size==1 with a Const SizeExpr, the count alloca is elided entirely. Slot is fixed at offset 8 from the stack base; push is a single store, loadtop is a single load, pop is a no-op. No mem2reg recurrence, no SCEV induction-variable analysis on this stack. On a representative reverse-mode AD cold compile this shape covers ~44 percent of the per-task adstack population, dominated by 1-byte u1 / i8 branch-outcome snapshots that the reverse pass replays without any adjoint accumulation.
All six AdStack* visit methods (Alloca, Push, Pop, LoadTop, LoadTopAdj, AccAdjoint) are reimplemented as inline LLVM IR using the alloca (multi-slot) or constant-offset GEP (single-slot) instead of runtime helper calls when compile_config.debug == false. The slot-address math (stack + sizeof(u64) + idx * 2 * element_size) is now exposed to GVN, so consecutive top-of-stack accesses fold across the runtime call boundary that used to block them.
The release-path push omits the runtime overflow check entirely. determine_ad_stack_size is mandatory and produces a valid upper bound on per-thread push count along every execution path - any unresolved stack is a hard compile error - so the runtime n + 1 > max_num_elements compare and the relaxed-atomic adstack_overflow_flag write are dead code in correct compilations. Eliminating them removes one cond_br plus one overflow basic block from each push site, halving the basic-block count contributed by the unrolled push sequence and removing the runtime-pointer dependency that pulls the LLVMRuntime address into every push's live range.
Debug build (compile_config.debug == true) routes pushes through stack_push so any sizer bug surfaces as an overflow flag at sync. Same for stack_init / stack_pop / stack_top_primal / stack_top_adjoint on the debug path.
The push-time llvm.memset that zeroes the primal+adjoint slot pair now passes the true minimum slot alignment (min(8, 2 * element_size)) instead of an unconditional MaybeAlign(8). For element sizes < 4 the slot pointer is genuinely 2- or 4-byte-aligned, not 8 - the previous over-stated claim was invalid IR metadata that future LLVM / NVPTX / AMDGCN lowering decisions could turn into a misaligned-store fault.
Backwards-compatible heap layout: the unused 8-byte u64 header is left in place at the start of each stack's slab so ad_stack_per_thread_stride_ and the host-side LlvmRuntimeExecutor::ensure_adstack_heap slab sizing are unchanged. The kernel just never reads or writes those bytes on the release path.

Why

Profiles of cold GPU compile of a reverse-mode AD kernel with adstack enabled showed libnvidia-ptxjitcompiler accounting for ~20x more wall-clock than the same kernel with adstack disabled, with the dominant ptxas function (presumably register allocation or live-range analysis) at ~145s on a single function. Two independent escape hatches (CU_JIT_OPTIMIZATION_LEVEL=2 exposed in #581 and CUDA_DISABLE_PTXAS_OPT=1 env var) had no measurable effect, indicating the cost is in mandatory phases (RA / liveness) that scale superlinearly with PTX basic-block size and memory-dependence chain length, not in optimization passes. The dominant size driver is the per-push count load / store / bounds-check sequence that the runtime helper path emits per AD variable per unrolled iteration.

Multi-slot SSA-promotion collapses that sequence to a chain of integer adds, shrinking the flat block ptxas's RA has to chew on and removing the per-push count's may-alias chain from MemoryDependenceResults. Single-slot specialization eliminates the count alloca entirely for the dominant 1-byte branch-outcome population, removing ~4500 mem2reg recurrences from the LLVM IR, ~9000 LLVM instructions across all push / pop / loadtop sites, and the matching PTX body. Empirical A/B on a representative cold compile:

Dominant ptxas symbol: 145.6s -> 22.96s (after multi-slot SSA-promotion) -> 4.41s (after single-slot specialization on top); ~140s saved on this single hot function.
Sum of top ptxas symbols: ~330s -> ~50s -> ~15s; ~315s saved on cold compile.
LLVM ScalarEvolution::canReuseInstruction: 0s without adstack, 55s after multi-slot SSA-promotion (the alloca's loop-carried recurrence is what feeds SCEV), 47s after single-slot specialization (the easy recurrences come out, the harder multi-slot ones stay).

Surface API

No public API change. qd.init and the CompileConfig knobs are untouched. The Python frontend, AD-stack sizing pipeline, host-side metadata publication, and SizeExpr machinery are all unaffected. The only internal shape change is to the six AdStack* visit methods in TaskCodeGenLLVM and three new private helpers (ensure_ad_stack_count_alloca_llvm, emit_ad_stack_top_slot_ptr, emit_ad_stack_single_slot_ptr).

Mechanism

Before (one helper call per op)

; AdStackPushStmt (visit emits these)
%offsets_ptr  = call ptr @LLVMRuntime_get_adstack_offsets(ptr %runtime)        ; cached at entry
%max_sizes    = call ptr @LLVMRuntime_get_adstack_max_sizes(ptr %runtime)     ; cached at entry
%max_addr     = getelementptr i64, ptr %max_sizes, i64 0
%max_size     = load i64, ptr %max_addr                                        ; PER PUSH
call void @stack_push(ptr %runtime, ptr %stack, i64 %max_size, i32 %elem_size) ; PER PUSH (load + store of u64 header inside)
%top          = call ptr @stack_top_primal(ptr %stack, i32 %elem_size)         ; PER PUSH (load of u64 header inside)
store float %v, ptr %top

GVN cannot fold consecutive stack_push calls because they have function-call memory effects plus the relaxed-atomic overflow store acts as a memory barrier; it cannot fold consecutive stack_top_primal calls either because the helper reads through %stack which AA cannot prove disjoint from the runtime metadata. Result: each unrolled iteration emits the full sequence again.

After, multi-slot release path (inline IR, per-stack alloca)

; entry block (once per task per stack):
%count_0 = alloca i64

; AdStackAllocaStmt body (init):
store i64 0, ptr %count_0

; AdStackPushStmt (per push, after mem2reg + GVN folding):
%new_count = add i64 %old_count, 1
%slot      = getelementptr i8, ptr %stack, i64 (8 + %old_count * 2 * elem_size)
call void @llvm.memset.p0.i64(ptr %slot, i8 0, i64 (2*elem_size), align min(8, 2*elem_size))
store float %v, ptr %slot

After mem2reg promotes count_0 to SSA and GVN folds the add 1 chain across N unrolled pushes, the only remaining memory ops in the unrolled body are the slot stores themselves. The count side has zero memory traffic.

After, single-slot release path (constant-offset GEP, no count state)

; AdStackAllocaStmt body (no init needed - no count state):
;   nothing emitted

; AdStackPushStmt:
%slot = getelementptr i8, ptr %stack, i64 8                                    ; constant offset, no count
call void @llvm.memset.p0.i64(ptr %slot, i8 0, i64 (2*elem_size), align min(8, 2*elem_size))
store i8 %v, ptr %slot

; AdStackLoadTopStmt:
%slot = getelementptr i8, ptr %stack, i64 8                                    ; constant offset, no count
%v    = load i8, ptr %slot

; AdStackPopStmt:
;   nothing emitted - no count to decrement, next push (if any) overwrites slot 0

Single-slot specialization gates on max_size == 1 AND size_expr->kind == Const && size_expr->const_value == 1 (rejects placeholder cases where the sizer set max_size = 1 because the symbolic bound is non-Const and the host evaluates the actual capacity per launch).

Heap layout (unchanged)

stack_ptr[0..8)      = (legacy) u64 count header (no longer read/written by the kernel on release)
stack_ptr[8..)       = slot 0 primal, slot 0 adjoint, slot 1 primal, ...

The 8-byte header gap is preserved so ad_stack_per_thread_stride_ (sum of align_up_8(size_in_bytes) per stack) and the host's ensure_adstack_heap(stride * num_threads) allocation are unchanged. Slot offsets stay at sizeof(u64) + idx * 2 * element_size.

Per-backend matrix

Backend	Codegen path	Behaviour change
CPU (LLVM)	TaskCodeGenLLVM	inline IR replaces runtime helper calls in release; debug unchanged
CUDA (LLVM/NVPTX)	TaskCodeGenLLVM	inline IR replaces runtime helper calls in release; debug unchanged
AMDGPU (LLVM/AMDGCN)	TaskCodeGenLLVM	inline IR replaces runtime helper calls in release; debug unchanged
Metal (SPIR-V)	unchanged	unaffected
Vulkan (SPIR-V)	unchanged	unaffected

Tests

The existing AD test suite already exercises every code path this PR touches: tests/python/test_adstack.py, test_ad_basics.py, test_ad_for.py, test_ad_if.py, test_ad_atomic.py, test_ad_offload.py, test_ad_demote_dense.py, test_ad_grad_check.py, test_ad_dynamic_index.py - 1041 tests pass on the LLVM CPU backend, covering the full reverse-mode AD surface including unary loop-carried unrolled bodies (the dominant adstack shape on this PR's hot path), nested control-flow inside reverse pass, atomic adjoint accumulation, dynamic indexing, gradient checks against PyTorch autograd, and offload boundary handling. The top-of-stack saturating-count - 1 underflow guard, slot-zeroing on push, and per-iteration count restart inside loop bodies all match the runtime helper semantics they replace.

This PR also adds four new parametrized tests to tests/python/test_adstack.py to broaden coverage of adstack codegen kernel shapes that the existing suite did not pin tightly. The added tests cross-check reverse-mode gradients against PyTorch autograd:

test_adstack_linear_only_accumulator_with_nonlinear_operand (parametrized over n_iter in {4, 32}) - kernel that mixes a loop-carried linear accumulator with a non-linear operand sin(a), weaving the accumulator's adjoint chain through the operand's adstack push / pop sites.
test_adstack_repeated_load_top_of_outer_value_in_unrolled_inner_loop (parametrized over n_inner in {4, 32}) - kernel that consumes one outer-loop value via a non-linear unary op N times in a row in an unrolled inner loop, producing N consecutive AdStackLoadTopStmt reads of the same stack inside one straight-line block.
test_adstack_unrolled_many_pushes_across_multiple_stacks (parametrized over n_iter in {4, 16, 64} and n_stacks in {1, 3}) - kernel that fans out to n_stacks parallel adstacks, each receiving n_iter straight-line pushes inside an unrolled inner loop. n_iter=64 is well above the adstack capacity floor of 32, so any regression that miscalculates the slot offset under multiple sibling stacks, races a cross-stack increment, or short-circuits the inline count - 1 saturation, surfaces as a wrong gradient long before it would surface as an overflow at runtime.
test_adstack_f16_unrolled_pushes_alignment (parametrized over n_iter in {4, 16}, restricted to LLVM backends because Vulkan / Metal lack atomic-f16 support for the kernel's atomic-add to a scalar) - regression sentinel for the memset alignment fix. The kernel uses qd.f16 so each adstack slot is 4-byte aligned (not 8), and n_iter=16 ensures multiple non-zero slot offsets get exercised including odd indices where the alignment claim matters most. The current toolchain does not turn the over-stated alignment into a fault on this kernel shape, but a future LLVM / NVPTX / AMDGCN lowering decision that does start trusting the alignment metadata more aggressively trips this test in CI rather than at user runtime.

These tests are independent of the codegen change in this PR (they pin gradient correctness, which the runtime-helper path on main already produces correctly), so they pass on both main and this branch. They are bundled here to lock down regression coverage for the kernel shapes the inline AdStack codegen exercises hardest.

Side-effect audit

mem2reg requires the alloca to be in the entry block; ensure_ad_stack_count_alloca_llvm uses an InsertPointGuard to emit there regardless of where the AdStackAllocaStmt visit site sits. Same pattern as ensure_ad_stack_heap_base_llvm / ensure_ad_stack_metadata_llvm.
The init-store at the AdStackAllocaStmt visit site is intentionally separate from the alloca creation. If an AdStackAllocaStmt is nested inside a loop body the alloca is still created once at the entry block, but the init store runs every iteration, matching the previous stack_init(stack_ptr) semantics where the heap u64 header was zeroed on each entry.
Single-slot specialization is gated on Const SizeExpr so placeholder max_size = 1 cases (where determine_ad_stack_size set 1 because the symbolic bound is non-Const and the host evaluates the actual capacity per launch) fall through to the multi-slot alloca path.
Top-of-stack underflow guard: emit_ad_stack_top_slot_ptr (multi-slot) and emit_ad_stack_single_slot_ptr (single-slot) both compute slot 0 when count == 0, matching stack_top_primal's n > 0 ? n - 1 : 0 underflow path. The host raises on runtime->adstack_overflow_flag before any garbage value reaches user code.
AdStackPushStmt slot index uses old_count (i.e. new_count - 1) directly on the multi-slot path, skipping the saturating-subtract because we just incremented and new_count is provably >= 1.
The unused 8-byte header in heap memory is wasted per stack per thread on the release path. For a 4-stack kernel running 1M threads on GPU that is 32 MB of unused slab, which is a small constant relative to the slot data (typically GB on adstack-heavy kernels). A future PR can re-pack the layout and drop the gap.
Debug build path is unchanged: stack_init / stack_push / stack_pop / stack_top_primal / stack_top_adjoint are still called, the bounds-check inside stack_push still fires, and the relaxed-atomic adstack_overflow_flag write is preserved.
No change to the AdStack pre-scan (ad_stack_per_thread_stride_, ad_stack_offsets_, ad_stack_allocas_info_, ad_stack_size_exprs_), no change to host-side metadata publication, no change to SizeExpr machinery.

chatgpt-codex-connector

💡 Codex Review

Here are some automated review suggestions for this pull request.

Reviewed commit: fc6350c64d

ℹ️ About Codex in GitHub

Codex has been enabled to automatically review pull requests in this repo. Reviews are triggered when you

Open a pull request for review
Mark a draft as ready
Comment "@codex review".

If Codex has suggestions, it will comment; otherwise it will react with 👍.

When you sign up for Codex through ChatGPT, Codex can also answer questions or update the PR, like "@codex address that feedback".

…ch autograd

…d repeated-load-top kernel shapes

duburcqa · 2026-04-28T08:51:32Z

@claude review

… sizes

duburcqa · 2026-04-28T09:39:24Z

@claude review

github-actions · 2026-04-28T09:47:21Z

Coverage Report (`8a8bc1d41`)

File	Coverage	Missing
🟢 `tests/python/test_adstack.py`	83%	2439-2444,2493-2498,2552-2557,2612-2619

Diff coverage: 83% · Overall: 52% · 152 lines, 26 missing

Full annotated report

…d elides the bounds check

duburcqa · 2026-04-28T09:50:35Z

@claude review

…d LLVM path: skip the count alloca entirely for AdStackAllocaStmts whose sizer-resolved capacity is compile-time max_size==1 with a Const SizeExpr - slot is provably slot 0 at every program point so push / pop / loadtop / loadtopadj / accadjoint reduce to constant-offset GEPs (stack + 8 for primal, stack + 8 + element_size for adjoint) with no count load / store, no mem2reg recurrence, no SCEV induction-variable analysis. On a representative reverse-mode AD cold compile this shape covers ~44 percent of the per-task adstack population, dominated by 1-byte u1 / i8 branch-outcome snapshots that the reverse pass replays without any adjoint accumulation; profile A/B against the multi-slot-only path drops the dominant ptxas symbol from 21.74s to 4.41s and shaves an additional ~35s off cold-compile wall-clock. Multi-slot stacks fall through to the existing alloca path; debug builds keep the runtime-helper path.

…in(x)) chain)

github-actions · 2026-04-28T10:43:55Z

Coverage Report (`4e0e2eb10`)

File	Coverage	Missing
🟢 `tests/python/test_adstack.py`	83%	2449-2454,2503-2508,2562-2567,2622-2629

Diff coverage: 83% · Overall: 73% · 155 lines, 26 missing

Full annotated report

duburcqa · 2026-04-28T10:56:16Z

@claude review

github-actions · 2026-04-28T11:54:06Z

Coverage Report (`e1b0ebcf4`)

File	Coverage	Missing
🟢 `tests/python/test_adstack.py`	83%	2449-2454,2503-2508,2569-2574,2629-2636

Diff coverage: 83% · Overall: 61% · 155 lines, 26 missing

Full annotated report

duburcqa · 2026-04-28T12:48:06Z

@claude review

hughperkins · 2026-04-28T13:05:19Z

can you post please:

Genesis unit test results (at least for field)
Genesis benchmarks results (at least for field)

duburcqa · 2026-04-28T13:36:10Z

GS_ENABLE_NDARRAY=1 QD_OFFLINE_CACHE=0 pytest -v -ra --backend gpu --dev --forked ./tests

[Quadrants] version 0.0.0, llvm 22.1.0, commit bc78fa52, linux, python 3.10.19
============================================================================================================================= test session starts ==============================================================================================================================
platform linux -- Python 3.10.19, pytest-9.0.2, pluggy-1.6.0 -- /mnt/home/duburcqa/.venv/bin/python3
cachedir: .pytest_cache
Test order randomisation NOT enabled. Enable with --random-order or --random-order-bucket=<bucket_type>
rootdir: /mnt/home/duburcqa/workspace/src/genesis
configfile: pyproject.toml
plugins: anyio-4.12.1, dash-4.0.0, forked-1.6.0, print-1.2.2, random-order-1.2.0, repeat-0.9.4, rerunfailures-16.1, timeout-2.4.0, xdist-3.8.0, quadrants-0.7.3.dev12+ge1b0ebcf4, syrupy-5.1.0
timeout: 1000.0s
timeout method: signal
timeout func_only: False
64 workers [652 items]
scheduling tests via WorkStealingScheduling

tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-2]
tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-0]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-0]
tests/test_quadrants.py::test_static[False-1-False-True-gpu-None]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-2]
tests/test_quadrants.py::test_static[True-4-True-True-gpu-None]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-0]
tests/test_quadrants.py::test_num_envs[False-False-gpu-None]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-0]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-0]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-True-False-False]
tests/test_ipc.py::test_cloth_corner_drag[2]
tests/test_quadrants.py::test_static[False-1-True-False-cpu-None]
tests/test_quadrants.py::test_static[False-1-False-False-cpu-None]
tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-2]
tests/test_quadrants.py::test_static[True-4-False-True-gpu-None]
tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-0]
tests/test_quadrants.py::test_static[True-4-False-False-gpu-None]
tests/test_quadrants.py::test_static[False-1-True-True-cpu-None]
tests/test_quadrants.py::test_static[False-1-True-True-gpu-None]
tests/test_quadrants.py::test_static[True-4-True-False-gpu-None]
tests/test_quadrants.py::test_static[True-4-True-True-cpu-None]
tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-2]
tests/test_quadrants.py::test_static[False-1-True-False-gpu-None]
tests/test_ipc.py::test_cloth_corner_drag[0]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-2]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-2]
tests/test_quadrants.py::test_num_envs[False-False-cpu-None]
tests/test_quadrants.py::test_num_envs[False-True-cpu-None]
tests/test_quadrants.py::test_static[False-1-False-True-cpu-None]
tests/test_quadrants.py::test_num_envs[False-True-gpu-None]
tests/test_quadrants.py::test_static[False-1-False-False-gpu-None]
tests/test_quadrants.py::test_num_envs[True-True-gpu-None]
tests/test_quadrants.py::test_static[True-4-False-False-cpu-None]
tests/test_quadrants.py::test_static[True-4-True-False-cpu-None]
tests/test_quadrants.py::test_static[True-4-False-True-cpu-None]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-False]
tests/test_quadrants.py::test_num_envs[True-False-cpu-None]
tests/test_quadrants.py::test_ndarray_no_compile[cpu-[(1, 0), (2, 1), (2, 2), (3, 3)]-None]
tests/test_quadrants.py::test_num_envs[True-True-cpu-None]
tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(3, 3), (4, 4)]-None]
tests/test_render.py::test_sensors_draw_debug[RASTERIZER-2]
tests/test_quadrants.py::test_num_envs[True-False-gpu-None]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-True-False]
tests/test_deformable_physics.py::test_deformable_parallel[gpu]
tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(1, 0), (2, 1)]-None]
tests/test_integration.py::test_pick_and_place[cpu-1]
tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-0]
tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-2]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-True]
tests/test_hybrid.py::test_mesh_mpm_build
tests/test_grad.py::test_differentiable_rigid[cpu]
tests/test_grad.py::test_differentiable_rigid[gpu]
tests/test_render.py::test_batch_deformable_render[RASTERIZER]
tests/test_integration.py::test_pick_and_place[cpu-0]
tests/test_rigid_physics.py::test_stickman[gpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_rigid_physics.py::test_stickman[cpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_render.py::test_sensors_draw_debug[RASTERIZER-0]
tests/test_integration.py::test_pick_and_place[gpu-2]
tests/test_integration.py::test_pick_and_place[gpu-0]
tests/test_integration.py::test_pick_and_place[cpu-2]
tests/test_integration.py::test_pick_and_place[gpu-1]
tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-box]
tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-sphere]
[gw56] [  0%] SKIPPED tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-sphere]
tests/test_rigid_physics.py::test_scene_saver_franka[gpu]
[gw52] [  0%] SKIPPED tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-box]
tests/test_rigid_physics.py::test_scene_saver_franka[cpu]
[gw11] [  0%] PASSED tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-0.04]
[gw4] [  0%] PASSED tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-0.04]
[gw5] [  0%] PASSED tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-0]
tests/test_rigid_physics.py::test_data_accessor[3-False-cpu]
[gw10] [  0%] PASSED tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-1.0]
[gw48] [  1%] PASSED tests/test_rigid_physics.py::test_stickman[cpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-2]
[gw21] [  1%] PASSED tests/test_quadrants.py::test_static[False-1-True-True-gpu-None]
tests/test_rigid_physics.py::test_batched_info[False-False-False]
[gw18] [  1%] PASSED tests/test_quadrants.py::test_static[False-1-True-True-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-1.0]
[gw27] [  1%] PASSED tests/test_quadrants.py::test_static[True-4-True-True-cpu-None]
tests/test_rigid_physics.py::test_batched_info[True-True-True]
[gw35] [  1%] PASSED tests/test_quadrants.py::test_num_envs[True-True-cpu-None]
tests/test_bvh.py::test_expand_bits
[gw29] [  1%] PASSED tests/test_quadrants.py::test_static[True-4-True-True-gpu-None]
tests/test_rigid_physics.py::test_heterogeneous_simulation
[gw36] [  1%] PASSED tests/test_quadrants.py::test_num_envs[True-True-gpu-None]
tests/test_bvh.py::test_build_tree[cpu-500-10]
[gw35] [  2%] PASSED tests/test_bvh.py::test_expand_bits
tests/test_ipc.py::test_objects_colliding[0]
[gw17] [  2%] PASSED tests/test_quadrants.py::test_static[False-1-False-True-gpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-0.04]
[gw36] [  2%] PASSED tests/test_bvh.py::test_build_tree[cpu-500-10]
tests/test_ipc.py::test_objects_colliding[2]
[gw9] [  2%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-1.0]
[gw6] [  2%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-1.0]
[gw1] [  2%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-0]
tests/test_rigid_physics.py::test_data_accessor[0-False-cpu]
[gw7] [  3%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-0.04]
[gw2] [  3%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-2]
tests/test_rigid_physics.py::test_cholesky_tiling[gpu-64]
[gw3] [  3%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-2]
tests/test_rigid_physics.py::test_data_accessor[0-False-gpu]
[gw16] [  3%] PASSED tests/test_quadrants.py::test_static[False-1-False-True-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-1.0]
[gw8] [  3%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-0.04]
[gw0] [  3%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-0]
tests/test_rigid_physics.py::test_cholesky_tiling[gpu-32]
[gw24] [  3%] PASSED tests/test_quadrants.py::test_static[True-4-False-True-cpu-None]
tests/test_rigid_physics.py::test_batched_info[False-True-True]
[gw15] [  4%] PASSED tests/test_quadrants.py::test_static[False-1-False-False-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-1.0]
[gw19] [  4%] PASSED tests/test_quadrants.py::test_static[False-1-True-False-cpu-None]
[gw33] [  4%] PASSED tests/test_quadrants.py::test_num_envs[True-False-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-1.0]
tests/test_bvh.py::test_morton_code[500-10]
[gw26] [  4%] PASSED tests/test_quadrants.py::test_static[True-4-False-True-gpu-None]
tests/test_rigid_physics.py::test_batched_info[True-False-False]
[gw37] [  4%] PASSED tests/test_quadrants.py::test_num_envs[True-False-gpu-None]
tests/test_bvh.py::test_morton_code[5-1]
[gw28] [  4%] PASSED tests/test_quadrants.py::test_static[True-4-True-False-cpu-None]
tests/test_rigid_physics.py::test_batched_info[True-False-True]
[gw23] [  5%] PASSED tests/test_quadrants.py::test_static[True-4-False-False-cpu-None]
tests/test_rigid_physics.py::test_batched_info[False-False-True]
[gw25] [  5%] PASSED tests/test_quadrants.py::test_static[True-4-True-False-gpu-None]
tests/test_rigid_physics.py::test_batched_info[True-True-False]
[gw20] [  5%] PASSED tests/test_quadrants.py::test_static[False-1-True-False-gpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-0.04]
[gw14] [  5%] PASSED tests/test_quadrants.py::test_static[False-1-False-False-gpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-0.04]
[gw43] [  5%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-True-False-False]
tests/test_bvh.py::test_query[gpu-5-1]
[gw52] [  5%] PASSED tests/test_rigid_physics.py::test_scene_saver_franka[cpu]
tests/test_grad.py::test_differentiable_push[gpu]
[gw22] [  5%] PASSED tests/test_quadrants.py::test_static[True-4-False-False-gpu-None]
tests/test_rigid_physics.py::test_batched_info[False-True-False]
[gw33] [  6%] PASSED tests/test_bvh.py::test_morton_code[500-10]
tests/test_ipc.py::test_objects_freefall[0]
[gw37] [  6%] PASSED tests/test_bvh.py::test_morton_code[5-1]
tests/test_ipc.py::test_objects_freefall[2]
[gw57] [  6%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-0]
tests/test_deformable_physics.py::test_sf_solver
[gw59] [  6%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-2]
tests/test_fem.py::test_interior_tetrahedralized_vertex
[gw61] [  6%] PASSED tests/test_integration.py::test_pick_and_place[cpu-0]
tests/test_rigid_physics.py::test_convexify[cpu-False-(90, 0, 90)]
[gw50] [  6%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-False]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-0]
[gw63] [  7%] PASSED tests/test_integration.py::test_pick_and_place[cpu-2]
tests/test_rigid_physics.py::test_convexify[gpu-True-(90, 0, 90)]
[gw43] [  7%] PASSED tests/test_bvh.py::test_query[gpu-5-1]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-True]
[gw55] [  7%] PASSED tests/test_integration.py::test_pick_and_place[cpu-1]
tests/test_rigid_physics.py::test_convexify[cpu-False-(74, 15, 90)]
[gw32] [  7%] PASSED tests/test_quadrants.py::test_num_envs[False-True-cpu-None]
tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[(10, 40, 25)]
[gw39] [  7%] PASSED tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(1, 0), (2, 1)]-None]
tests/test_bvh.py::test_build_tree[cpu-5-1]
[gw30] [  7%] PASSED tests/test_quadrants.py::test_num_envs[False-False-cpu-None]
tests/test_usd.py::test_usd_bake[cuda-usd/WoodenCrate/WoodenCrate_D1_1002.usda]
[gw46] [  7%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-True]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-2]
[gw39] [  8%] PASSED tests/test_bvh.py::test_build_tree[cpu-5-1]
tests/test_ipc.py::test_robot_grasp_fem[two_way_soft_constraint]
[gw54] [  8%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-True-False]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-0]
[gw40] [  8%] PASSED tests/test_quadrants.py::test_ndarray_no_compile[cpu-[(1, 0), (2, 1), (2, 2), (3, 3)]-None]
tests/test_bvh.py::test_build_tree[gpu-5-1]
[gw49] [  8%] PASSED tests/test_grad.py::test_differentiable_rigid[cpu]
tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-2]
[gw34] [  8%] PASSED tests/test_quadrants.py::test_num_envs[False-True-gpu-None]
tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[()]
[gw40] [  8%] PASSED tests/test_bvh.py::test_build_tree[gpu-5-1]
tests/test_ipc.py::test_momentum_conservation[0]
[gw31] [  9%] PASSED tests/test_quadrants.py::test_num_envs[False-False-gpu-None]
tests/test_usd.py::test_usd_bake[cuda-usd/franka_mocap_teleop/table_scene.usd]
[gw59] [  9%] PASSED tests/test_fem.py::test_interior_tetrahedralized_vertex
tests/test_kinematic.py::test_setters
[gw48] [  9%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-2]
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-0]
[gw57] [  9%] PASSED tests/test_deformable_physics.py::test_sf_solver
tests/test_ipc.py::test_coup_collision_links
[gw45] [  9%] PASSED tests/test_render.py::test_batch_deformable_render[RASTERIZER]
tests/test_bvh.py::test_query[gpu-500-10]
[gw11] [  9%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-0.04]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.elastic.Elastic]
[gw4] [  9%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-0.04]
tests/test_hybrid.py::test_fluid_emitter[1-genesis.engine.materials.SPH.liquid.Liquid]
[gw10] [ 10%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-1.0]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.snow.Snow]
[gw45] [ 10%] PASSED tests/test_bvh.py::test_query[gpu-500-10]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-False]
[gw34] [ 10%] PASSED tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[()]
tests/test_ipc.py::test_apply_forces_base_link[100-2]
[gw59] [ 10%] PASSED tests/test_kinematic.py::test_setters
tests/test_render.py::test_deterministic[RASTERIZER]
[gw38] [ 10%] PASSED tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(3, 3), (4, 4)]-None]
tests/test_bvh.py::test_build_tree[gpu-500-10]
[gw35] [ 10%] PASSED tests/test_ipc.py::test_objects_colliding[0]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-(2, 3, 5)]
[gw38] [ 11%] PASSED tests/test_bvh.py::test_build_tree[gpu-500-10]
tests/test_ipc.py::test_robot_grasp_fem[external_articulation]
[gw60] [ 11%] PASSED tests/test_deformable_physics.py::test_deformable_parallel[gpu]
tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-0]
[gw6] [ 11%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-1.0]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.SPH.liquid.Liquid]
[gw33] [ 11%] PASSED tests/test_ipc.py::test_objects_freefall[0]
tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-(2, 3, 5)]
[gw35] [ 11%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-(2, 3, 5)]
tests/test_render.py::test_deformable_uv_textures[RAYTRACER]
[gw9] [ 11%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-1.0]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.liquid.Liquid]
[gw33] [ 11%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-(2, 3, 5)]
tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-True]
[gw50] [ 12%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-0]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-False]
[gw7] [ 12%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-0.04]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.PBD.liquid.Liquid]
[gw8] [ 12%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-0.04]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.sand.Sand]
[gw54] [ 12%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-0]
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-2]
[gw1] [ 12%] PASSED tests/test_rigid_physics.py::test_data_accessor[0-False-cpu]
tests/test_grad.py::test_diff_solver[gpu]
[gw56] [ 12%] PASSED tests/test_rigid_physics.py::test_scene_saver_franka[gpu]
tests/test_grad.py::test_diff_contact[cpu]
[gw37] [ 13%] PASSED tests/test_ipc.py::test_objects_freefall[2]
tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-()]
[gw61] [ 13%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-False-(90, 0, 90)]
tests/test_fem.py::test_implicit_sap_coupler_collide_sphere_box[64]
[gw5] [ 13%] PASSED tests/test_rigid_physics.py::test_data_accessor[3-False-cpu]
tests/test_hybrid.py::test_fluid_emitter[0-genesis.engine.materials.SPH.liquid.Liquid]
[gw55] [ 13%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-False-(74, 15, 90)]
tests/test_fem.py::test_explicit_legacy_coupler_soft_constraint_box[64]
[gw46] [ 13%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-2]
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-0]
[gw37] [ 13%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-()]
tests/test_render.py::test_deformable_uv_textures[RASTERIZER]
[gw57] [ 13%] PASSED tests/test_ipc.py::test_coup_collision_links
tests/test_render.py::test_render_api[BATCHRENDER_RAYTRACER]
[gw4] [ 14%] PASSED tests/test_hybrid.py::test_fluid_emitter[1-genesis.engine.materials.SPH.liquid.Liquid]
tests/test_mesh.py::test_2_channels_luminance_alpha_textures
[gw52] [ 14%] PASSED tests/test_grad.py::test_differentiable_push[gpu]
tests/test_mesh.py::test_glb_parse_geometry[glb/combined_srt.glb-32]
[gw10] [ 14%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.snow.Snow]
tests/test_mesh.py::test_convex_decompose_cache
[gw11] [ 14%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.elastic.Elastic]
tests/test_misc.py::test_scene_destroy_cleans_up_simulator
[gw40] [ 14%] PASSED tests/test_ipc.py::test_momentum_conservation[0]
tests/test_quadrants.py::test_linear_to_lower_tri[32]
[gw42] [ 14%] PASSED tests/test_render.py::test_sensors_draw_debug[RASTERIZER-0]
tests/test_bvh.py::test_query[cpu-500-10]
[gw41] [ 15%] PASSED tests/test_render.py::test_sensors_draw_debug[RASTERIZER-2]
tests/test_bvh.py::test_query[cpu-5-1]
[gw52] [ 15%] PASSED tests/test_mesh.py::test_glb_parse_geometry[glb/combined_srt.glb-32]
tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RASTERIZER]
[gw45] [ 15%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-False]
tests/test_quadrants.py::test_linear_to_lower_tri[92]
[gw30] [ 15%] PASSED tests/test_usd.py::test_usd_bake[cuda-usd/WoodenCrate/WoodenCrate_D1_1002.usda]
tests/test_ipc.py::test_apply_forces_base_link[1-0]
[gw34] [ 15%] PASSED tests/test_ipc.py::test_apply_forces_base_link[100-2]
tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-()]
[gw41] [ 15%] PASSED tests/test_bvh.py::test_query[cpu-5-1]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-True]
[gw51] [ 15%] PASSED tests/test_integration.py::test_pick_and_place[gpu-0]
tests/test_rigid_physics.py::test_convexify[gpu-True-(74, 15, 90)]
[gw62] [ 16%] PASSED tests/test_integration.py::test_pick_and_place[gpu-2]
tests/test_rigid_physics.py::test_convexify[gpu-False-(74, 15, 90)]
[gw42] [ 16%] PASSED tests/test_bvh.py::test_query[cpu-500-10]
tests/test_ipc.py::test_momentum_conservation[2]
[gw55] [ 16%] XFAIL tests/test_fem.py::test_explicit_legacy_coupler_soft_constraint_box[64]
tests/test_mesh.py::test_urdf_scale[glb/combined_transform.glb]
[gw58] [ 16%] PASSED tests/test_hybrid.py::test_mesh_mpm_build
tests/test_rigid_physics.py::test_convexify[cpu-True-(74, 15, 90)]
[gw53] [ 16%] PASSED tests/test_rigid_physics.py::test_stickman[gpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_deformable_physics.py::test_mpm_particle_constraints
[gw6] [ 16%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.SPH.liquid.Liquid]
tests/test_mesh.py::test_plane_texture_path_preservation
[gw40] [ 17%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[32]
tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[sensor_only-RASTERIZER]
[gw34] [ 17%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-()]
tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-False]
[gw4] [ 17%] PASSED tests/test_mesh.py::test_2_channels_luminance_alpha_textures
tests/test_render.py::test_segmentation_map[visual-link-RASTERIZER]
[gw45] [ 17%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[92]
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-CG-box_plan]
[gw36] [ 17%] PASSED tests/test_ipc.py::test_objects_colliding[2]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-()]
[gw9] [ 17%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.liquid.Liquid]
tests/test_mesh.py::test_urdf_with_float_texture_glb[2-numpy.float64]
[gw7] [ 17%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.PBD.liquid.Liquid]
tests/test_mesh.py::test_urdf_with_float_texture_glb[1-numpy.float32]
[gw55] [ 18%] PASSED tests/test_mesh.py::test_urdf_scale[glb/combined_transform.glb]
tests/test_render.py::test_render_api_advanced[4-RASTERIZER]
[gw47] [ 18%] PASSED tests/test_integration.py::test_pick_and_place[gpu-1]
tests/test_rigid_physics.py::test_convexify[gpu-False-(90, 0, 90)]
[gw6] [ 18%] PASSED tests/test_mesh.py::test_plane_texture_path_preservation
tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RASTERIZER]
[gw1] [ 18%] PASSED tests/test_grad.py::test_diff_solver[gpu]
tests/test_mesh.py::test_urdf_mesh_processing
[gw8] [ 18%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.sand.Sand]
tests/test_mesh.py::test_splashsurf_surface_reconstruction
[gw36] [ 18%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-()]
tests/test_render.py::test_rasterizer_camera_sensor_with_viewer[RASTERIZER]
[gw56] [ 19%] PASSED tests/test_grad.py::test_diff_contact[cpu]
tests/test_mesh.py::test_glb_parse_geometry[glb/combined_transform.glb-32]
[gw5] [ 19%] PASSED tests/test_hybrid.py::test_fluid_emitter[0-genesis.engine.materials.SPH.liquid.Liquid]
tests/test_mesh.py::test_mjcf_parse_material[32]
[gw48] [ 19%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-0]
tests/test_render.py::test_render_api[RAYTRACER]
[gw57] [ 19%] PASSED tests/test_render.py::test_render_api[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-CG-chain_capsule_hinge_mesh]
[gw7] [ 19%] PASSED tests/test_mesh.py::test_urdf_with_float_texture_glb[1-numpy.float32]
tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RAYTRACER]
[gw56] [ 19%] PASSED tests/test_mesh.py::test_glb_parse_geometry[glb/combined_transform.glb-32]
tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RAYTRACER]
[gw9] [ 19%] PASSED tests/test_mesh.py::test_urdf_with_float_texture_glb[2-numpy.float64]
tests/test_render.py::test_segmentation_map[visual-geom-RASTERIZER]
[gw10] [ 20%] PASSED tests/test_mesh.py::test_convex_decompose_cache
tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RAYTRACER]
[gw11] [ 20%] PASSED tests/test_misc.py::test_scene_destroy_cleans_up_simulator
tests/test_render.py::test_segmentation_map[particle-entity-RASTERIZER]
[gw61] [ 20%] PASSED tests/test_fem.py::test_implicit_sap_coupler_collide_sphere_box[64]
tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(2.0, 2.0, 2.0)]
[gw33] [ 20%] PASSED tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-True]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_capsule.xml]
[gw18] [ 20%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-1.0]
tests/test_ipc.py::test_rigid_ground_sliding[0]
[gw35] [ 20%] PASSED tests/test_render.py::test_deformable_uv_textures[RAYTRACER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_ball.xml]
[gw38] [ 21%] PASSED tests/test_ipc.py::test_robot_grasp_fem[external_articulation]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-()]
[gw1] [ 21%] PASSED tests/test_mesh.py::test_urdf_mesh_processing
tests/test_render.py::test_segmentation_map[visual-entity-RASTERIZER]
[gw32] [ 21%] PASSED tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[(10, 40, 25)]
tests/test_ipc.py::test_apply_forces_base_link[100-0]
[gw31] [ 21%] PASSED tests/test_usd.py::test_usd_bake[cuda-usd/franka_mocap_teleop/table_scene.usd]
tests/test_ipc.py::test_apply_forces_base_link[1-2]
[gw44] [ 21%] PASSED tests/test_grad.py::test_differentiable_rigid[gpu]
tests/test_rigid_physics.py::test_convexify[cpu-True-(90, 0, 90)]
[gw21] [ 21%] PASSED tests/test_rigid_physics.py::test_batched_info[False-False-False]
tests/test_ipc.py::test_rigid_ground_sliding[2]
[gw38] [ 21%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-()]
tests/test_render.py::test_rasterizer_env_separate[True-RASTERIZER]
[gw61] [ 22%] PASSED tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(2.0, 2.0, 2.0)]
tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RAYTRACER]
[gw17] [ 22%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-0.04]
tests/test_integration.py::test_hanging_rigid_cable[gpu]
[gw19] [ 22%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-1.0]
tests/test_ipc.py::test_contact_pair_friction_resistance[False]
[gw26] [ 22%] PASSED tests/test_rigid_physics.py::test_batched_info[True-False-False]
tests/test_ipc.py::test_link_filter_strict
[gw25] [ 22%] PASSED tests/test_rigid_physics.py::test_batched_info[True-True-False]
tests/test_ipc.py::test_find_target_links[True-external_articulation]
[gw5] [ 22%] PASSED tests/test_mesh.py::test_mjcf_parse_material[32]
tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RAYTRACER]
[gw16] [ 23%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-1.0]
tests/test_integration.py::test_hanging_rigid_cable[cpu]
[gw23] [ 23%] PASSED tests/test_rigid_physics.py::test_batched_info[False-False-True]
tests/test_ipc.py::test_ipc_rigid_ground_clearance[0]
[gw43] [ 23%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-True]
tests/test_recorders.py::test_plotter
[gw45] [ 23%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-CG-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_capsule.xml]
[gw58] [ 23%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-True-(74, 15, 90)]
tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.LegacyCouplerOptions-linear-64]
[gw6] [ 23%] PASSED tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-connect.xml]
[gw8] [ 23%] PASSED tests/test_mesh.py::test_splashsurf_surface_reconstruction
tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RASTERIZER]
[gw28] [ 24%] PASSED tests/test_rigid_physics.py::test_batched_info[True-False-True]
tests/test_ipc.py::test_find_target_links[True-two_way_soft_constraint]
[gw27] [ 24%] PASSED tests/test_rigid_physics.py::test_batched_info[True-True-True]
tests/test_ipc.py::test_find_target_links[False-two_way_soft_constraint]
[gw53] [ 24%] PASSED tests/test_deformable_physics.py::test_mpm_particle_constraints
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-2]
[gw24] [ 24%] PASSED tests/test_rigid_physics.py::test_batched_info[False-True-True]
tests/test_ipc.py::test_needs_coup
[gw14] [ 24%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-0.04]
tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[10]
[gw7] [ 24%] PASSED tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_dynamic_weld
[gw22] [ 25%] PASSED tests/test_rigid_physics.py::test_batched_info[False-True-False]
tests/test_ipc.py::test_ipc_rigid_ground_clearance[2]
[gw10] [ 25%] PASSED tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-CG-xml/one_ball_joint.xml]
[gw0] [ 25%] PASSED tests/test_rigid_physics.py::test_cholesky_tiling[gpu-32]
tests/test_grad.py::test_diff_contact[gpu]
[gw34] [ 25%] PASSED tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-False]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_ball.xml]
[gw29] [ 25%] PASSED tests/test_rigid_physics.py::test_heterogeneous_simulation
tests/test_ipc.py::test_find_target_links[False-external_articulation]
[gw37] [ 25%] PASSED tests/test_render.py::test_deformable_uv_textures[RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_tet.xml]
[gw40] [ 25%] PASSED tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[sensor_only-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_capsule.xml]
[gw3] [ 26%] PASSED tests/test_rigid_physics.py::test_data_accessor[0-False-gpu]
tests/test_hybrid.py::test_rigid_mpm_muscle
[gw13] [ 26%] PASSED tests/test_ipc.py::test_cloth_corner_drag[2]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-0.04]
[gw41] [ 26%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-True]
tests/test_quadrants.py::test_linear_to_lower_tri[64]
[gw20] [ 26%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-0.04]
tests/test_ipc.py::test_contact_pair_friction_resistance[True]
[gw49] [ 26%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-2]
tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear-64]
[gw36] [ 26%] PASSED tests/test_render.py::test_rasterizer_camera_sensor_with_viewer[RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_capsule.xml]
[gw15] [ 26%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-1.0]
tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[1]
[gw57] [ 27%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_tet.xml]
[gw25] [ 27%] PASSED tests/test_ipc.py::test_find_target_links[True-external_articulation]
tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-()]
[gw43] [ 27%] PASSED tests/test_recorders.py::test_plotter
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-Newton-box_plan]
[gw41] [ 27%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[64]
tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_viewer-RASTERIZER]
[gw63] [ 27%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-True-(90, 0, 90)]
tests/test_fem.py::test_hard_constraint[64-False]
[gw59] [ 27%] PASSED tests/test_render.py::test_deterministic[RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-Newton-chain_capsule_hinge_mesh]
[gw58] [ 28%] PASSED tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.LegacyCouplerOptions-linear-64]
tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(0.5, 2.0, 8.0)]
[gw30] [ 28%] PASSED tests/test_ipc.py::test_apply_forces_base_link[1-0]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-(2, 3, 5)]
[gw39] [ 28%] PASSED tests/test_ipc.py::test_robot_grasp_fem[two_way_soft_constraint]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-(2, 3, 5)]
[gw5] [ 28%] PASSED tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-xml/four_bar_linkage_weld.xml]
[gw48] [ 28%] PASSED tests/test_render.py::test_render_api[RAYTRACER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-CG-chain_capsule_hinge_mesh]
[gw32] [ 28%] PASSED tests/test_ipc.py::test_apply_forces_base_link[100-0]
tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-(2, 3, 5)]
[gw25] [ 28%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-()]
tests/test_render.py::test_draw_debug_frustum_and_trajectory[2-RASTERIZER]
[gw8] [ 29%] PASSED tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_reset
[gw31] [ 29%] PASSED tests/test_ipc.py::test_apply_forces_base_link[1-2]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-()]
[gw24] [ 29%] PASSED tests/test_ipc.py::test_needs_coup
tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-(2, 3, 5)]
[gw32] [ 29%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-(2, 3, 5)]
tests/test_render.py::test_render_planes[BATCHRENDER_RAYTRACER]
[gw44] [ 29%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-True-(90, 0, 90)]
tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear_corotated-64]
[gw26] [ 29%] PASSED tests/test_ipc.py::test_link_filter_strict
tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-()]
[gw33] [ 30%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-Newton-hinge_slide]
[gw55] [ 30%] PASSED tests/test_render.py::test_render_api_advanced[4-RASTERIZER]
tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-Newton-hinge_slide]
[gw35] [ 30%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_nonconvex_collision[cpu]
[gw0] [ 30%] PASSED tests/test_grad.py::test_diff_contact[gpu]
tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_draco_no_normal.glb]
[gw58] [ 30%] PASSED tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(0.5, 2.0, 8.0)]
tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RASTERIZER]
[gw42] [ 30%] PASSED tests/test_ipc.py::test_momentum_conservation[2]
tests/test_quadrants.py::test_linear_to_lower_tri[62]
[gw4] [ 30%] PASSED tests/test_render.py::test_segmentation_map[visual-link-RASTERIZER]
tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-weld.xml]
[gw39] [ 31%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-(2, 3, 5)]
tests/test_render.py::test_rasterizer_env_separate[False-RASTERIZER]
[gw18] [ 31%] PASSED tests/test_ipc.py::test_rigid_ground_sliding[0]
tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-2]
[gw24] [ 31%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-(2, 3, 5)]
tests/test_render.py::test_point_cloud[BATCHRENDER_RAYTRACER]
[gw60] [ 31%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-0]
tests/test_fem.py::test_maxvolume
[gw6] [ 31%] PASSED tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-connect.xml]
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-gpu]
[gw10] [ 31%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-CG-xml/one_ball_joint.xml]
tests/test_rigid_physics.py::test_filter_neutral_self_collisions
[gw0] [ 32%] PASSED tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_draco_no_normal.glb]
tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RASTERIZER]
[gw30] [ 32%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-(2, 3, 5)]
tests/test_render.py::test_render_planes[RASTERIZER]
[gw26] [ 32%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-()]
tests/test_render.py::test_draw_debug[RASTERIZER]
[gw29] [ 32%] PASSED tests/test_ipc.py::test_find_target_links[False-external_articulation]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-()]
[gw14] [ 32%] PASSED tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[10]
tests/test_misc.py::test_get_entity_by_uid
[gw31] [ 32%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-()]
tests/test_render.py::test_render_planes[BATCHRENDER_RASTERIZER]
[gw28] [ 32%] PASSED tests/test_ipc.py::test_find_target_links[True-two_way_soft_constraint]
tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-(2, 3, 5)]
[gw52] [ 33%] PASSED tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_walker[cpu-False-implicitfast-CG-xml/walker.xml]
[gw12] [ 33%] PASSED tests/test_ipc.py::test_cloth_corner_drag[0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-1.0]
[gw46] [ 33%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-0]
tests/test_recorders.py::test_video_writer
[gw21] [ 33%] PASSED tests/test_ipc.py::test_rigid_ground_sliding[2]
tests/test_pbd.py::test_get_mass[0]
[gw41] [ 33%] PASSED tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_viewer-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_ball.xml]
[gw42] [ 33%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[62]
tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_scene_camera-RASTERIZER]
[gw9] [ 34%] PASSED tests/test_render.py::test_segmentation_map[visual-geom-RASTERIZER]
tests/test_rigid_physics.py::test_dynamic_weld_scene_reset
[gw45] [ 34%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-0]
[gw27] [ 34%] PASSED tests/test_ipc.py::test_find_target_links[False-two_way_soft_constraint]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-(2, 3, 5)]
[gw54] [ 34%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-2]
tests/test_render.py::test_render_api[RASTERIZER]
[gw16] [ 34%] PASSED tests/test_integration.py::test_hanging_rigid_cable[cpu]
tests/test_misc.py::test_entity_names_property
[gw19] [ 34%] PASSED tests/test_ipc.py::test_contact_pair_friction_resistance[False]
tests/test_pbd.py::test_maxvolume
[gw29] [ 34%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-()]
tests/test_render.py::test_camera_gimbal_lock_singularity[RASTERIZER]
[gw51] [ 35%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-True-(74, 15, 90)]
tests/test_fem.py::test_hard_constraint[64-True]
[gw28] [ 35%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-(2, 3, 5)]
tests/test_render.py::test_draw_debug_frustum_and_trajectory[0-RASTERIZER]
[gw14] [ 35%] PASSED tests/test_misc.py::test_get_entity_by_uid
tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RASTERIZER]
[gw60] [ 35%] PASSED tests/test_fem.py::test_maxvolume
tests/test_kinematic.py::test_track_rigid
[gw2] [ 35%] PASSED tests/test_rigid_physics.py::test_cholesky_tiling[gpu-64]
tests/test_grad.py::test_diff_solver[cpu]
[gw1] [ 35%] PASSED tests/test_render.py::test_segmentation_map[visual-entity-RASTERIZER]
tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-CG-mimic_hinges]
[gw15] [ 36%] PASSED tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[1]
tests/test_misc.py::test_get_entity_by_name
[gw49] [ 36%] PASSED tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear-64]
tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(0.5, 2.0, 8.0)]
[gw11] [ 36%] PASSED tests/test_render.py::test_segmentation_map[particle-entity-RASTERIZER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-Newton-xml/one_ball_joint.xml]
[gw63] [ 36%] PASSED tests/test_fem.py::test_hard_constraint[64-False]
tests/test_mesh.py::test_urdf_scale[yup_zup_coverage/cannon_y_-z.stl]
[gw27] [ 36%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-(2, 3, 5)]
tests/test_render.py::test_interactive_viewer_key_press[RASTERIZER]
[gw23] [ 36%] PASSED tests/test_ipc.py::test_ipc_rigid_ground_clearance[0]
tests/test_pbd.py::test_get_mass[2]
[gw43] [ 36%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-Newton-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_tet.xml]
[gw19] [ 37%] PASSED tests/test_pbd.py::test_maxvolume
tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RASTERIZER]
[gw16] [ 37%] PASSED tests/test_misc.py::test_entity_names_property
tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RAYTRACER]
[gw37] [ 37%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_frictionloss_advanced
[gw34] [ 37%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-CG-hinge_slide]
[gw29] [ 37%] PASSED tests/test_render.py::test_camera_gimbal_lock_singularity[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_hinge.xml]
[gw40] [ 37%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-False-False]
[gw32] [ 38%] PASSED tests/test_render.py::test_render_planes[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_tet.xml]
[gw15] [ 38%] PASSED tests/test_misc.py::test_get_entity_by_name
tests/test_render.py::test_segmentation_map[particle-link-RASTERIZER]
[gw63] [ 38%] PASSED tests/test_mesh.py::test_urdf_scale[yup_zup_coverage/cannon_y_-z.stl]
tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RASTERIZER]
[gw56] [ 38%] PASSED tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_walker[cpu-False-Euler-CG-xml/walker.xml]
[gw62] [ 38%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-False-(74, 15, 90)]
tests/test_grad.py::test_differentiable_push[cpu]
[gw22] [ 38%] PASSED tests/test_ipc.py::test_ipc_rigid_ground_clearance[2]
tests/test_pbd.py::test_cloth_attach_rigid_link
[gw35] [ 38%] PASSED tests/test_rigid_physics.py::test_nonconvex_collision[cpu]
tests/test_rigid_physics.py::test_color_overwrite[False]
[gw57] [ 39%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-7]
[gw59] [ 39%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_ball.xml]
[gw5] [ 39%] PASSED tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-xml/four_bar_linkage_weld.xml]
tests/test_rigid_physics.py::test_robot_kinematics[gpu-Euler-CG-xml/franka_emika_panda/panda.xml]
[gw49] [ 39%] PASSED tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(0.5, 2.0, 8.0)]
tests/test_render.py::test_deterministic[BATCHRENDER_RAYTRACER]
[gw61] [ 39%] PASSED tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-CG-hinge_slide]
[gw42] [ 39%] PASSED tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_scene_camera-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_tet.xml]
[gw44] [ 40%] PASSED tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear_corotated-64]
tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(2.0, 2.0, 2.0)]
[gw53] [ 40%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-2]
tests/test_render.py::test_render_api[BATCHRENDER_RASTERIZER]
[gw33] [ 40%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-Newton-hinge_slide]
tests/test_rigid_physics.py::test_mjcf_parsing_merge_fixed_links[box_freejoint_offset]
[gw48] [ 40%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_ball.xml]
[gw20] [ 40%] PASSED tests/test_ipc.py::test_contact_pair_friction_resistance[True]
tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-0]
[gw36] [ 40%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-True-True]
[gw4] [ 40%] PASSED tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-weld.xml]
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-cpu]
[gw55] [ 41%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-Newton-hinge_slide]
tests/test_rigid_physics.py::test_pendulum_links_acc[Euler-CG-pendulum]
[gw45] [ 41%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-0]
tests/test_rigid_physics.py::test_drone_propellers_force_substep_consistency
[gw26] [ 41%] PASSED tests/test_render.py::test_draw_debug[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_hinge.xml]
[gw18] [ 41%] PASSED tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-2]
tests/test_render.py::test_camera_follow_entity[RASTERIZER-0]
[gw24] [ 41%] PASSED tests/test_render.py::test_point_cloud[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_ball.xml]
[gw21] [ 41%] PASSED tests/test_pbd.py::test_get_mass[0]
tests/test_render.py::test_camera_follow_entity[RASTERIZER-2]
[gw51] [ 42%] PASSED tests/test_fem.py::test_hard_constraint[64-True]
tests/test_mesh.py::test_mesh_yup
[gw25] [ 42%] PASSED tests/test_render.py::test_draw_debug_frustum_and_trajectory[2-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_hinge.xml]
[gw14] [ 42%] PASSED tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_hinge.xml]
[gw50] [ 42%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-False]
tests/test_recorders.py::test_file_writers
[gw31] [ 42%] PASSED tests/test_render.py::test_render_planes[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_urdf_rope[cpu-False-implicitfast-CG-linear_deformable.urdf]
[gw16] [ 42%] PASSED tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_ball.xml]
[gw19] [ 42%] PASSED tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_ball.xml]
[gw35] [ 43%] PASSED tests/test_rigid_physics.py::test_color_overwrite[False]
tests/test_sensor_camera.py::test_batch_renderer_destroy[cuda]
[gw47] [ 43%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-False-(90, 0, 90)]
tests/test_fem.py::test_implicit_sap_coupler_hard_constraint_and_collision[64]
[gw46] [ 43%] PASSED tests/test_recorders.py::test_video_writer
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-Newton-box_plan]
[gw17] [ 43%] PASSED tests/test_integration.py::test_hanging_rigid_cable[gpu]
tests/test_misc.py::test_urdf_mjcf_names_from_file
[gw40] [ 43%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-False-False]
tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_mjcf]
[gw34] [ 43%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-CG-hinge_slide]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_primitives.urdf]
[gw52] [ 44%] PASSED tests/test_rigid_physics.py::test_walker[cpu-False-implicitfast-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-Newton-box_box]
[gw30] [ 44%] PASSED tests/test_render.py::test_render_planes[RASTERIZER]
tests/test_rigid_physics.py::test_urdf_rope[cpu-True-implicitfast-CG-linear_deformable.urdf]
[gw2] [ 44%] PASSED tests/test_grad.py::test_diff_solver[cpu]
tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_with_normal_draco.glb]
[gw44] [ 44%] PASSED tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(2.0, 2.0, 2.0)]
tests/test_render.py::test_render_api_advanced[0-RASTERIZER]
[gw23] [ 44%] PASSED tests/test_pbd.py::test_get_mass[2]
tests/test_render.py::test_point_cloud[RASTERIZER]
[gw2] [ 44%] PASSED tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_with_normal_draco.glb]
tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RAYTRACER]
[gw11] [ 44%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-Newton-xml/one_ball_joint.xml]
tests/test_rigid_physics.py::test_info_batching
[gw7] [ 45%] PASSED tests/test_rigid_physics.py::test_dynamic_weld
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-cpu]
[gw54] [ 45%] PASSED tests/test_render.py::test_render_api[RASTERIZER]
tests/test_rigid_physics.py::test_general_actuator[cpu-Euler-CG-general_actuator]
[gw41] [ 45%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_num_contact_overflow[gpu]
[gw12] [ 45%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-1.0]
tests/test_hybrid.py::test_sap_rigid_rigid_hydroelastic_contact[64]
[gw17] [ 45%] PASSED tests/test_misc.py::test_urdf_mjcf_names_from_file
tests/test_render.py::test_segmentation_map[particle-geom-RASTERIZER]
[gw51] [ 45%] PASSED tests/test_mesh.py::test_mesh_yup
tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RAYTRACER]
[gw6] [ 46%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-gpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-0]
[gw28] [ 46%] PASSED tests/test_render.py::test_draw_debug_frustum_and_trajectory[0-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_ball.xml]
[gw1] [ 46%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-CG-mimic_hinges]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-Newton-box_box]
[gw33] [ 46%] PASSED tests/test_rigid_physics.py::test_mjcf_parsing_merge_fixed_links[box_freejoint_offset]
tests/test_sensor_camera.py::test_destroy_idempotent_with_camera
[gw22] [ 46%] PASSED tests/test_pbd.py::test_cloth_attach_rigid_link
tests/test_render.py::test_point_cloud[BATCHRENDER_RASTERIZER]
[gw53] [ 46%] PASSED tests/test_render.py::test_render_api[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-Newton-chain_capsule_hinge_mesh]
[gw27] [ 46%] PASSED tests/test_render.py::test_interactive_viewer_key_press[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_ball.xml]
[gw38] [ 47%] PASSED tests/test_render.py::test_rasterizer_env_separate[True-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_ball.xml]
[gw50] [ 47%] PASSED tests/test_recorders.py::test_file_writers
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-CG-box_plan]
[gw29] [ 47%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_apply_external_forces[double_ball_pendulum]
[gw57] [ 47%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics.py::test_extended_broadcasting
[gw55] [ 47%] PASSED tests/test_rigid_physics.py::test_pendulum_links_acc[Euler-CG-pendulum]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-5]
[gw43] [ 47%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-1]
[gw56] [ 48%] PASSED tests/test_rigid_physics.py::test_walker[cpu-False-Euler-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-CG-box_box]
[gw4] [ 48%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-cpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-8]
[gw33] [ 48%] PASSED tests/test_sensor_camera.py::test_destroy_idempotent_with_camera
tests/test_utils.py::test_warn_once_logs_different_messages
[gw58] [ 48%] PASSED tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-Newton-chain_capsule_hinge_mesh]
[gw33] [ 48%] PASSED tests/test_utils.py::test_warn_once_logs_different_messages
tests/test_rigid_physics.py::test_set_root_pose[False-False]
[gw35] [ 48%] PASSED tests/test_sensor_camera.py::test_batch_renderer_destroy[cuda]
tests/test_utils.py::test_geom_numpy_vs_torch_consistency[(10, 40, 25)]
[gw36] [ 48%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-True-True]
tests/test_rigid_physics.py::test_color_overwrite[True]
[gw59] [ 49%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-8]
[gw61] [ 49%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-CG-hinge_slide]
tests/test_rigid_physics.py::test_link_velocity[Euler-CG-two_aligned_hinges]
[gw20] [ 49%] PASSED tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-0]
tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RAYTRACER]
[gw32] [ 49%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-Newton-hinge_slide]
[gw0] [ 49%] PASSED tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-CG-mimic_hinges]
[gw8] [ 49%] PASSED tests/test_rigid_physics.py::test_reset
tests/test_rigid_physics.py::test_robot_scaling_primitive_collision
[gw10] [ 50%] PASSED tests/test_rigid_physics.py::test_filter_neutral_self_collisions
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-4]
[gw24] [ 50%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[cpu]
[gw25] [ 50%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_all_fixed
[gw48] [ 50%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-5]
[gw13] [ 50%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-0.04]
tests/test_hybrid.py::test_sap_fem_vs_robot[64]
[gw45] [ 50%] PASSED tests/test_rigid_physics.py::test_drone_propellers_force_substep_consistency
tests/test_sensors.py::test_add_and_read_all_registered_sensors
[gw52] [ 50%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-1]
[gw62] [ 51%] PASSED tests/test_grad.py::test_differentiable_push[cpu]
tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_y_-z.stl-False]
[gw26] [ 51%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[gpu]
[gw7] [ 51%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-cpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-1]
[gw46] [ 51%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-Newton-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_capsule.xml]
[gw42] [ 51%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_num_contact_overflow[cpu]
[gw6] [ 51%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-0]
tests/test_rigid_physics.py::test_heterogeneous_fewer_envs_than_variants
[gw14] [ 51%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_set_root_pose[True-False]
[gw19] [ 52%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_set_sol_params[0-False]
[gw36] [ 52%] PASSED tests/test_rigid_physics.py::test_color_overwrite[True]
tests/test_sensor_camera.py::test_raytracer_destroy
[gw9] [ 52%] PASSED tests/test_rigid_physics.py::test_dynamic_weld_scene_reset
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-gpu]
[gw22] [ 52%] PASSED tests/test_render.py::test_point_cloud[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_hinge.xml]
[gw62] [ 52%] PASSED tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_y_-z.stl-False]
tests/test_render.py::test_madrona_lights[BATCHRENDER_RAYTRACER]
[gw16] [ 52%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_set_root_pose[True-True]
[gw63] [ 53%] PASSED tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-CG-hinge_slide]
[gw15] [ 53%] PASSED tests/test_render.py::test_segmentation_map[particle-link-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_ball.xml]
[gw34] [ 53%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_primitives.urdf]
tests/test_sensor_camera.py::test_destroy_unbuilt_scene_with_camera
[gw43] [ 53%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-1]
tests/test_rigid_physics.py::test_drone_advanced[cpu]
[gw31] [ 53%] PASSED tests/test_rigid_physics.py::test_urdf_rope[cpu-False-implicitfast-CG-linear_deformable.urdf]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-CG-hinge_slide]
[gw5] [ 53%] PASSED tests/test_rigid_physics.py::test_robot_kinematics[gpu-Euler-CG-xml/franka_emika_panda/panda.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-7]
[gw23] [ 53%] PASSED tests/test_render.py::test_point_cloud[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_ball.xml]
[gw61] [ 54%] PASSED tests/test_rigid_physics.py::test_link_velocity[Euler-CG-two_aligned_hinges]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-4]
[gw1] [ 54%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-5]
[gw28] [ 54%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_multi_robot_inverse_kinematics
[gw54] [ 54%] PASSED tests/test_rigid_physics.py::test_general_actuator[cpu-Euler-CG-general_actuator]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_tet.xml]
[gw39] [ 54%] PASSED tests/test_render.py::test_rasterizer_env_separate[False-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_tet.xml]
[gw37] [ 54%] PASSED tests/test_rigid_physics.py::test_frictionloss_advanced
tests/test_rigid_physics.py::test_urdf_capsule
[gw20] [ 55%] PASSED tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_hinge.xml]
[gw50] [ 55%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-CG-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_ball.xml]
[gw47] [ 55%] PASSED tests/test_fem.py::test_implicit_sap_coupler_hard_constraint_and_collision[64]
tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_z.glb-True]
[gw34] [ 55%] PASSED tests/test_sensor_camera.py::test_destroy_unbuilt_scene_with_camera
tests/test_utils.py::test_warn_once_logs_once
[gw32] [ 55%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-Newton-hinge_slide]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_glb/dual_arms_glb.urdf]
[gw25] [ 55%] PASSED tests/test_rigid_physics.py::test_all_fixed
tests/test_rigid_physics.py::test_urdf_parsing_undefined_inertia[undefined_inertia]
[gw34] [ 55%] PASSED tests/test_utils.py::test_warn_once_logs_once
tests/test_rigid_physics.py::test_robot_kinematics[cpu-Euler-CG-xml/franka_emika_panda/panda.xml]
[gw56] [ 56%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-2]
[gw36] [ 56%] PASSED tests/test_sensor_camera.py::test_raytracer_destroy
tests/test_utils.py::test_geom_numpy_vs_torch_consistency[()]
[gw27] [ 56%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_contact_forces[gpu-32]
[gw53] [ 56%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_capsule.xml]
[gw12] [ 56%] PASSED tests/test_hybrid.py::test_sap_rigid_rigid_hydroelastic_contact[64]
tests/test_misc.py::test_scene_destroy_idempotent
[gw59] [ 56%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-8]
tests/test_rigid_physics.py::test_geom_pos_quat[0]
[gw3] [ 57%] PASSED tests/test_hybrid.py::test_rigid_mpm_muscle
tests/test_mesh.py::test_glb_parse_material[glb/chopper.glb]
[gw30] [ 57%] PASSED tests/test_rigid_physics.py::test_urdf_rope[cpu-True-implicitfast-CG-linear_deformable.urdf]
tests/test_rigid_physics.py::test_mass_mat
[gw7] [ 57%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-1]
tests/test_rigid_physics.py::test_heterogeneous_mass_setters
[gw47] [ 57%] PASSED tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_z.glb-True]
tests/test_render.py::test_madrona_lights[BATCHRENDER_RASTERIZER]
[gw3] [ 57%] PASSED tests/test_mesh.py::test_glb_parse_material[glb/chopper.glb]
tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RASTERIZER]
[gw52] [ 57%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-1]
tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-gpu]
[gw58] [ 57%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_capsule.xml]
[gw4] [ 58%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-8]
tests/test_rigid_physics.py::test_heterogeneous_invalid_material_raises
[gw38] [ 58%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-False-True]
[gw55] [ 58%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_ellipsoid[ellipsoid]
[gw48] [ 58%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[True]
[gw60] [ 58%] PASSED tests/test_kinematic.py::test_track_rigid
tests/test_render.py::test_deterministic[BATCHRENDER_RASTERIZER]
[gw36] [ 58%] PASSED tests/test_utils.py::test_geom_numpy_vs_torch_consistency[()]
tests/test_rigid_physics.py::test_position_control[cpu]
[gw44] [ 59%] PASSED tests/test_render.py::test_render_api_advanced[0-RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-CG-chain_capsule_hinge_mesh]
[gw40] [ 59%] PASSED tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_mjcf]
tests/test_sensor_camera.py::test_raytracer[1]
[gw4] [ 59%] PASSED tests/test_rigid_physics.py::test_heterogeneous_invalid_material_raises
tests/test_sph.py::test_sph_simulation_stability_regular_sampler[DFSPH]
[gw31] [ 59%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-CG-hinge_slide]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-chain.urdf]
[gw0] [ 59%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-CG-mimic_hinges]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-Newton-box_box]
[gw49] [ 59%] PASSED tests/test_render.py::test_deterministic[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-Newton-chain_capsule_hinge_mesh]
[gw17] [ 59%] PASSED tests/test_render.py::test_segmentation_map[particle-geom-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_hinge.xml]
[gw56] [ 60%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[0]
[gw11] [ 60%] PASSED tests/test_rigid_physics.py::test_info_batching
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-5]
[gw12] [ 60%] PASSED tests/test_misc.py::test_scene_destroy_idempotent
tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RASTERIZER]
[gw59] [ 60%] PASSED tests/test_rigid_physics.py::test_geom_pos_quat[0]
tests/test_sensors.py::test_lidar_cache_offset_parallel_env
[gw51] [ 60%] PASSED tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-Newton-hinge_slide]
[gw46] [ 60%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-3]
[gw2] [ 61%] PASSED tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-Newton-mimic_hinges]
[gw7] [ 61%] PASSED tests/test_rigid_physics.py::test_heterogeneous_mass_setters
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-DFSPH]
[gw48] [ 61%] PASSED tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[True]
tests/test_sensors.py::test_raycaster_hits[0]
[gw22] [ 61%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_local_point[2]
[gw24] [ 61%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[cpu]
tests/test_rigid_physics.py::test_jacobian[Euler-CG-pendulum]
[gw52] [ 61%] PASSED tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-gpu]
tests/test_sensors.py::test_proximity_sensor_box_sphere[0]
[gw42] [ 61%] PASSED tests/test_rigid_physics.py::test_num_contact_overflow[cpu]
tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_urdf]
[gw3] [ 62%] PASSED tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-Newton-mimic_hinges]
[gw63] [ 62%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-CG-hinge_slide]
tests/test_rigid_physics.py::test_double_pendulum_links_acc[Euler-CG-double_pendulum]
[gw23] [ 62%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_local_point[0]
[gw35] [ 62%] PASSED tests/test_utils.py::test_geom_numpy_vs_torch_consistency[(10, 40, 25)]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-8]
[gw15] [ 62%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_set_root_pose[False-True]
[gw9] [ 62%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-gpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-2]
[gw5] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics.py::test_merge_entities[True-True]
[gw34] [ 63%] PASSED tests/test_rigid_physics.py::test_robot_kinematics[cpu-Euler-CG-xml/franka_emika_panda/panda.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-6]
[gw29] [ 63%] PASSED tests/test_rigid_physics.py::test_apply_external_forces[double_ball_pendulum]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_glb/dual_arms_glb.urdf]
[gw31] [ 63%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-chain.urdf]
tests/test_sensor_camera.py::test_batch_renderer[0-cuda]
[gw1] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_merge_entities[False-True]
[gw54] [ 63%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-4]
[gw61] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[3]
[gw50] [ 64%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-2]
[gw39] [ 64%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-True-False]
[gw20] [ 64%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_set_sol_params[3-True]
[gw32] [ 64%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_glb/dual_arms_glb.urdf]
tests/test_sensor_camera.py::test_batch_renderer[2-cuda]
[gw33] [ 64%] PASSED tests/test_rigid_physics.py::test_set_root_pose[False-False]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-7]
[gw8] [ 64%] PASSED tests/test_rigid_physics.py::test_robot_scaling_primitive_collision
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-3]
[gw43] [ 65%] PASSED tests/test_rigid_physics.py::test_drone_advanced[cpu]
tests/test_sensors.py::test_imu_sensor[0]
[gw4] [ 65%] PASSED tests/test_sph.py::test_sph_simulation_stability_regular_sampler[DFSPH]
tests/test_rigid_physics.py::test_geom_pos_quat[2]
[gw53] [ 65%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-6]
[gw18] [ 65%] PASSED tests/test_render.py::test_camera_follow_entity[RASTERIZER-0]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_ball.xml]
[gw24] [ 65%] PASSED tests/test_rigid_physics.py::test_jacobian[Euler-CG-pendulum]
tests/test_rigid_physics_analytical_vs_gjk.py::test_split_vs_monolithic_narrowphase[gpu]
[gw13] [ 65%] PASSED tests/test_hybrid.py::test_sap_fem_vs_robot[64]
tests/test_misc.py::test_auto_and_user_names
[gw0] [ 65%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-3]
[gw12] [ 66%] PASSED tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-CG-xml/one_ball_joint.xml]
[gw59] [ 66%] PASSED tests/test_sensors.py::test_lidar_cache_offset_parallel_env
tests/test_utils.py::test_polar_pure_rotation[True]
[gw10] [ 66%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_pick_heterogenous_objects[gpu]
[gw42] [ 66%] PASSED tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_urdf]
tests/test_sensor_camera.py::test_camera_lookat_entity
[gw58] [ 66%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-3]
[gw41] [ 66%] PASSED tests/test_rigid_physics.py::test_num_contact_overflow[gpu]
tests/test_rigid_physics.py::test_gravity
[gw44] [ 67%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_ball.xml]
[gw21] [ 67%] PASSED tests/test_render.py::test_camera_follow_entity[RASTERIZER-2]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_hinge.xml]
[gw63] [ 67%] PASSED tests/test_rigid_physics.py::test_double_pendulum_links_acc[Euler-CG-double_pendulum]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-6]
[gw38] [ 67%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-False-True]
tests/test_rigid_physics.py::test_urdf_joint_dynamics[1.0-2.0-pendulum_with_joint_dynamics]
[gw49] [ 67%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_tet.xml]
[gw13] [ 67%] PASSED tests/test_misc.py::test_auto_and_user_names
tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RAYTRACER]
[gw59] [ 67%] PASSED tests/test_utils.py::test_polar_pure_rotation[True]
tests/test_rigid_physics.py::test_contype_conaffinity
[gw14] [ 68%] PASSED tests/test_rigid_physics.py::test_set_root_pose[True-False]
tests/test_rigid_physics.py::test_collision_plane_convex[cpu]
[gw9] [ 68%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_non_batched_mass_setters
[gw7] [ 68%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-DFSPH]
tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-cpu]
[gw19] [ 68%] PASSED tests/test_rigid_physics.py::test_set_sol_params[0-False]
tests/test_rigid_physics.py::test_terrain_generation[True-gpu]
[gw36] [ 68%] PASSED tests/test_rigid_physics.py::test_position_control[cpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-6]
[gw16] [ 68%] PASSED tests/test_rigid_physics.py::test_set_root_pose[True-True]
tests/test_rigid_physics.py::test_nan_reset[Euler-CG-collision_edge_cases-3]
[gw57] [ 69%] PASSED tests/test_rigid_physics.py::test_extended_broadcasting
tests/test_sensors.py::test_lidar_bvh_parallel_env
[gw6] [ 69%] PASSED tests/test_rigid_physics.py::test_heterogeneous_fewer_envs_than_variants
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-WCSPH]
[gw38] [ 69%] PASSED tests/test_rigid_physics.py::test_urdf_joint_dynamics[1.0-2.0-pendulum_with_joint_dynamics]
tests/test_sensor_camera.py::test_raytracer[0]
[gw46] [ 69%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_cholesky_tiling_large_shared_memory[cuda]
[gw17] [ 69%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_normalized_quat
[gw2] [ 69%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-Newton-mimic_hinges]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-CG-box_box]
[gw62] [ 69%] PASSED tests/test_render.py::test_madrona_lights[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_walker[cpu-True-Euler-CG-xml/walker.xml]
[gw4] [ 70%] PASSED tests/test_rigid_physics.py::test_geom_pos_quat[2]
tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[0]
[gw51] [ 70%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-Newton-hinge_slide]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-CG-box_box]
[gw3] [ 70%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-Newton-mimic_hinges]
tests/test_rigid_physics.py::test_terrain_generation[False-gpu]
[gw50] [ 70%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_get_constraints_api
[gw39] [ 70%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-True-False]
tests/test_rigid_physics.py::test_urdf_mimic
[gw25] [ 70%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_undefined_inertia[undefined_inertia]
tests/test_sensor_camera.py::test_rasterizer_non_batched[0]
[gw37] [ 71%] PASSED tests/test_rigid_physics.py::test_urdf_capsule
tests/test_sensor_camera.py::test_rasterizer_destroy
[gw43] [ 71%] PASSED tests/test_sensors.py::test_imu_sensor[0]
tests/test_utils.py::test_fps_tracker
[gw54] [ 71%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_deprecated_properties
[gw43] [ 71%] PASSED tests/test_utils.py::test_fps_tracker
tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[0]
[gw41] [ 71%] PASSED tests/test_rigid_physics.py::test_gravity
tests/test_sensors.py::test_lazy_sensor_discovery
[gw35] [ 71%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-8]
tests/test_rigid_physics.py::test_xacro_loading
[gw9] [ 71%] PASSED tests/test_rigid_physics.py::test_non_batched_mass_setters
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-WCSPH]
[gw53] [ 72%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[False]
[gw34] [ 72%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_merge_entities[True-False]
[gw47] [ 72%] PASSED tests/test_render.py::test_madrona_lights[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_walker[cpu-True-implicitfast-CG-xml/walker.xml]
[gw37] [ 72%] PASSED tests/test_sensor_camera.py::test_rasterizer_destroy
tests/test_utils.py::test_warn_once_with_empty_message
[gw13] [ 72%] PASSED tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-Newton-xml/one_ball_joint.xml]
[gw12] [ 72%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-CG-xml/one_ball_joint.xml]
tests/test_rigid_physics.py::test_terrain_discrete_obstacles
[gw26] [ 73%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[gpu]
tests/test_rigid_physics.py::test_mjcf_parsing_with_include
[gw7] [ 73%] PASSED tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-cpu]
tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[2]
[gw55] [ 73%] PASSED tests/test_rigid_physics.py::test_ellipsoid[ellipsoid]
tests/test_sensors.py::test_kinematic_contact_probe_box_support[2]
[gw37] [ 73%] PASSED tests/test_utils.py::test_warn_once_with_empty_message
tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[2]
[gw45] [ 73%] PASSED tests/test_sensors.py::test_add_and_read_all_registered_sensors
tests/test_utils.py::test_geom_tensor_identity[()]
[gw54] [ 73%] PASSED tests/test_rigid_physics.py::test_deprecated_properties
tests/test_sensors.py::test_contact_sensors_gravity_force[2]
[gw60] [ 73%] PASSED tests/test_render.py::test_deterministic[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-CG-chain_capsule_hinge_mesh]
[gw39] [ 74%] PASSED tests/test_rigid_physics.py::test_urdf_mimic
tests/test_sensor_camera.py::test_raytracer_attached_without_offset_T
[gw19] [ 74%] PASSED tests/test_rigid_physics.py::test_terrain_generation[True-gpu]
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[cpu]
[gw6] [ 74%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-WCSPH]
tests/test_rigid_physics.py::test_urdf_align
[gw40] [ 74%] PASSED tests/test_sensor_camera.py::test_raytracer[1]
tests/test_utils.py::test_geom_quadrants_identity[(10, 40, 25)]
[gw45] [ 74%] PASSED tests/test_utils.py::test_geom_tensor_identity[()]
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[gpu]
[gw56] [ 74%] PASSED tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[0]
tests/test_sensors.py::test_proximity_sensor_box_sphere[2]
[gw18] [ 75%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink[cpu]
[gw11] [ 75%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_heterogeneous_robots
[gw57] [ 75%] PASSED tests/test_sensors.py::test_lidar_bvh_parallel_env
tests/test_utils.py::test_polar_pure_rotation[False]
[gw53] [ 75%] PASSED tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[False]
tests/test_sensors.py::test_raycaster_hits[2]
[gw40] [ 75%] PASSED tests/test_utils.py::test_geom_quadrants_identity[(10, 40, 25)]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[cpu]
[gw44] [ 75%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-2]
[gw21] [ 75%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink[gpu]
[gw0] [ 76%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[2]
[gw49] [ 76%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-1]
[gw51] [ 76%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-7]
[gw2] [ 76%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-4]
[gw58] [ 76%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[0]
[gw30] [ 76%] PASSED tests/test_rigid_physics.py::test_mass_mat
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_primitives.urdf]
[gw27] [ 76%] PASSED tests/test_rigid_physics.py::test_contact_forces[gpu-32]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-chain.urdf]
[gw57] [ 77%] PASSED tests/test_utils.py::test_polar_pure_rotation[False]
tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[gpu]
[gw12] [ 77%] PASSED tests/test_rigid_physics.py::test_terrain_discrete_obstacles
tests/test_rigid_physics.py::test_energy_analytical_and_conservation[Euler]
[gw9] [ 77%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-WCSPH]
tests/test_rigid_physics.py::test_merge_entities[False-False]
[gw14] [ 77%] PASSED tests/test_rigid_physics.py::test_collision_plane_convex[cpu]
tests/test_rigid_physics.py::test_energy_analytical_and_conservation[approximate_implicitfast]
[gw63] [ 77%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_mesh_align
[gw41] [ 77%] PASSED tests/test_sensors.py::test_lazy_sensor_discovery
tests/test_utils.py::test_geom_tensor_identity[(10, 40, 25)]
[gw15] [ 78%] PASSED tests/test_rigid_physics.py::test_set_root_pose[False-True]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-8]
[gw3] [ 78%] PASSED tests/test_rigid_physics.py::test_terrain_generation[False-gpu]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[cpu]
[gw24] [ 78%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_split_vs_monolithic_narrowphase[gpu]
tests/test_usd.py::test_pure_rigid_body_fixed[True]
[gw22] [ 78%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_local_point[2]
tests/test_rigid_physics.py::test_subterrain_parameters
[gw62] [ 78%] PASSED tests/test_rigid_physics.py::test_walker[cpu-True-Euler-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-CG-box_box]
[gw16] [ 78%] XFAIL tests/test_rigid_physics.py::test_nan_reset[Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[cpu]
[gw48] [ 78%] PASSED tests/test_sensors.py::test_raycaster_hits[0]
tests/test_utils.py::test_polar_decomposition[right]
[gw1] [ 79%] PASSED tests/test_rigid_physics.py::test_merge_entities[False-True]
tests/test_sph.py::test_sph_initial_pressure_regular_sampler[WCSPH]
[gw13] [ 79%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-Newton-xml/one_ball_joint.xml]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[gpu]
[gw5] [ 79%] PASSED tests/test_rigid_physics.py::test_merge_entities[True-True]
tests/test_sph.py::test_sph_simulation_stability_regular_sampler[WCSPH]
[gw23] [ 79%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_local_point[0]
tests/test_rigid_physics.py::test_mesh_to_heightfield
[gw31] [ 79%] PASSED tests/test_sensor_camera.py::test_batch_renderer[0-cuda]
tests/test_usd.py::test_oriented_capsule
[gw33] [ 79%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics.py::test_hibernation_and_contact_islands[True]
[gw33] [ 80%] SKIPPED tests/test_rigid_physics.py::test_hibernation_and_contact_islands[True]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-0]
[gw20] [ 80%] PASSED tests/test_rigid_physics.py::test_set_sol_params[3-True]
tests/test_rigid_physics.py::test_terrain_generation[False-cpu]
[gw22] [ 80%] PASSED tests/test_rigid_physics.py::test_subterrain_parameters
tests/test_usd.py::test_collision_only_fixed_override[None-0]
[gw48] [ 80%] PASSED tests/test_utils.py::test_polar_decomposition[right]
tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-1.0-all_joints_mjcf]
[gw52] [ 80%] PASSED tests/test_sensors.py::test_proximity_sensor_box_sphere[0]
tests/test_viewer.py::test_viewer_thread_crash_reports_traceback
[gw28] [ 80%] PASSED tests/test_rigid_physics.py::test_multi_robot_inverse_kinematics
tests/test_rigid_physics.py::test_urdf_parsing
[gw32] [ 80%] PASSED tests/test_sensor_camera.py::test_batch_renderer[2-cuda]
tests/test_usd.py::test_ant_capsule_axis_collision
[gw44] [ 81%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_mesh_primitive_COM
[gw47] [ 81%] PASSED tests/test_rigid_physics.py::test_walker[cpu-True-implicitfast-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-Newton-box_box]
[gw8] [ 81%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_heterogeneous_aabb
[gw49] [ 81%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-1]
tests/test_sensor_camera.py::test_rasterizer_attached_batched
[gw60] [ 81%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_capsule.xml]
[gw36] [ 81%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_heterogeneous_articulated_structure_mismatch
[gw40] [ 82%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[cpu]
tests/test_usd.py::test_uv_size_mismatch_no_crash
[gw29] [ 82%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_glb/dual_arms_glb.urdf]
tests/test_sensor_camera.py::test_rasterizer_batched
[gw19] [ 82%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[cpu]
tests/test_usd.py::test_usd_visual_parse[usd/RoughnessTest]
[gw36] [ 82%] PASSED tests/test_rigid_physics.py::test_heterogeneous_articulated_structure_mismatch
[gw24] [ 82%] PASSED tests/test_usd.py::test_pure_rigid_body_fixed[True]
tests/test_usd.py::test_visual_collision_parsing
[gw50] [ 82%] PASSED tests/test_rigid_physics.py::test_get_constraints_api
tests/test_sensors.py::test_imu_sensor[2]
[gw1] [ 82%] PASSED tests/test_sph.py::test_sph_initial_pressure_regular_sampler[WCSPH]
tests/test_viewer.py::test_interactive_viewer_disable_viewer_defaults
[gw10] [ 83%] PASSED tests/test_rigid_physics.py::test_pick_heterogenous_objects[gpu]
tests/test_sph.py::test_dfsph_simulation_builds_and_runs
[gw4] [ 83%] PASSED tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[0]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-right]
[gw5] [ 83%] PASSED tests/test_sph.py::test_sph_simulation_stability_regular_sampler[WCSPH]
tests/test_utils.py::test_compose_inertial_properties
[gw35] [ 83%] PASSED tests/test_rigid_physics.py::test_xacro_loading
tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[0]
[gw62] [ 83%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-0]
[gw43] [ 83%] PASSED tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[0]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-right]
[gw33] [ 84%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-0]
tests/test_usd.py::test_humanoid_generic_joint_detection
[gw61] [ 84%] PASSED tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[3]
tests/test_sensors.py::test_kinematic_contact_probe_box_support[0]
[gw5] [ 84%] PASSED tests/test_utils.py::test_compose_inertial_properties
[gw51] [ 84%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-7]
tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[2]
[gw59] [ 84%] PASSED tests/test_rigid_physics.py::test_contype_conaffinity
tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[2]
[gw2] [ 84%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-4]
tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[0]
[gw23] [ 84%] PASSED tests/test_rigid_physics.py::test_mesh_to_heightfield
tests/test_utils.py::test_slerp[(10, 40, 25)]
[gw25] [ 85%] PASSED tests/test_sensor_camera.py::test_rasterizer_non_batched[0]
tests/test_usd.py::test_collision_only_fixed_override[True-0]
[gw38] [ 85%] PASSED tests/test_sensor_camera.py::test_raytracer[0]
tests/test_utils.py::test_geom_quadrants_inverse[()]
[gw18] [ 85%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink[cpu]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[gpu]
[gw22] [ 85%] PASSED tests/test_usd.py::test_collision_only_fixed_override[None-0]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-left]
[gw30] [ 85%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_primitives.urdf]
tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[1.0]
[gw42] [ 85%] PASSED tests/test_sensor_camera.py::test_camera_lookat_entity
tests/test_utils.py::test_geom_quadrants_identity[()]
[gw46] [ 86%] PASSED tests/test_rigid_physics.py::test_cholesky_tiling_large_shared_memory[cuda]
tests/test_sensors.py::test_contact_sensors_gravity_force[0]
[gw4] [ 86%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-right]
[gw1] [ 86%] PASSED tests/test_viewer.py::test_interactive_viewer_disable_viewer_defaults
[gw27] [ 86%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-chain.urdf]
tests/test_usd.py::test_usd_parse_nodegraph[usd/nodegraph.usda]
[gw38] [ 86%] PASSED tests/test_utils.py::test_geom_quadrants_inverse[()]
[gw43] [ 86%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-right]
[gw42] [ 86%] PASSED tests/test_utils.py::test_geom_quadrants_identity[()]
[gw47] [ 87%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-Newton-box_box]
[gw24] [ 87%] PASSED tests/test_usd.py::test_visual_collision_parsing
[gw55] [ 87%] PASSED tests/test_sensors.py::test_kinematic_contact_probe_box_support[2]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-left]
[gw34] [ 87%] PASSED tests/test_rigid_physics.py::test_merge_entities[True-False]
tests/test_sph.py::test_sph_initial_pressure_regular_sampler[DFSPH]
[gw37] [ 87%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[2]
tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[left]
[gw22] [ 87%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-left]
[gw17] [ 88%] PASSED tests/test_rigid_physics.py::test_normalized_quat
tests/test_rigid_physics.py::test_terrain_generation[True-cpu]
[gw40] [ 88%] PASSED tests/test_usd.py::test_uv_size_mismatch_no_crash
[gw20] [ 88%] PASSED tests/test_rigid_physics.py::test_terrain_generation[False-cpu]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-right]
[gw19] [ 88%] PASSED tests/test_usd.py::test_usd_visual_parse[usd/RoughnessTest]
[gw7] [ 88%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[2]
tests/test_viewer.py::test_default_viewer_plugin
[gw50] [ 88%] PASSED tests/test_sensors.py::test_imu_sensor[2]
[gw52] [ 88%] PASSED tests/test_viewer.py::test_viewer_thread_crash_reports_traceback
[gw55] [ 89%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-left]
[gw41] [ 89%] PASSED tests/test_utils.py::test_geom_tensor_identity[(10, 40, 25)]
tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[2.0]
[gw10] [ 89%] PASSED tests/test_sph.py::test_dfsph_simulation_builds_and_runs
[gw62] [ 89%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-0]
[gw37] [ 89%] PASSED tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[left]
[gw6] [ 89%] PASSED tests/test_rigid_physics.py::test_urdf_align
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[gpu]
[gw20] [ 90%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-right]
[gw39] [ 90%] PASSED tests/test_sensor_camera.py::test_raytracer_attached_without_offset_T
tests/test_utils.py::test_geom_quadrants_inverse[(10, 40, 25)]
[gw60] [ 90%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_capsule.xml]
[gw0] [ 90%] PASSED tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[2]
tests/test_sph.py::test_sph_initial_density_regular_sampler[WCSPH]
[gw3] [ 90%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[cpu]
tests/test_usd.py::test_pure_rigid_body_fixed[False]
[gw25] [ 90%] PASSED tests/test_usd.py::test_collision_only_fixed_override[True-0]
[gw30] [ 90%] PASSED tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[1.0]
[gw14] [ 91%] PASSED tests/test_rigid_physics.py::test_energy_analytical_and_conservation[approximate_implicitfast]
tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-1.0-all_joints_mjcf]
[gw16] [ 91%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[cpu]
tests/test_usd.py::test_ur10_visual_fallback
[gw26] [ 91%] PASSED tests/test_rigid_physics.py::test_mjcf_parsing_with_include
tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[cpu]
[gw15] [ 91%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-8]
tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-2.0-all_joints_mjcf]
[gw12] [ 91%] PASSED tests/test_rigid_physics.py::test_energy_analytical_and_conservation[Euler]
tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-2.0-all_joints_mjcf]
[gw27] [ 91%] PASSED tests/test_usd.py::test_usd_parse_nodegraph[usd/nodegraph.usda]
[gw53] [ 92%] PASSED tests/test_sensors.py::test_raycaster_hits[2]
tests/test_utils.py::test_polar_decomposition[left]
[gw34] [ 92%] PASSED tests/test_sph.py::test_sph_initial_pressure_regular_sampler[DFSPH]
[gw56] [ 92%] PASSED tests/test_sensors.py::test_proximity_sensor_box_sphere[2]
tests/test_viewer.py::test_mouse_interaction_plugin
[gw9] [ 92%] PASSED tests/test_rigid_physics.py::test_merge_entities[False-False]
tests/test_sph.py::test_sph_initial_density_regular_sampler[DFSPH]
[gw11] [ 92%] PASSED tests/test_rigid_physics.py::test_heterogeneous_robots
tests/test_usd.py::test_primitives_mjcf_vs_usd[1.0-all_primitives_mjcf]
[gw31] [ 92%] PASSED tests/test_usd.py::test_oriented_capsule
tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-left]
[gw54] [ 92%] PASSED tests/test_sensors.py::test_contact_sensors_gravity_force[2]
tests/test_utils.py::test_slerp[()]
[gw18] [ 93%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[gpu]
[gw53] [ 93%] PASSED tests/test_utils.py::test_polar_decomposition[left]
[gw17] [ 93%] PASSED tests/test_rigid_physics.py::test_terrain_generation[True-cpu]
[gw44] [ 93%] PASSED tests/test_rigid_physics.py::test_mesh_primitive_COM
[gw54] [ 93%] PASSED tests/test_utils.py::test_slerp[()]
[gw31] [ 93%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-left]
[gw23] [ 94%] PASSED tests/test_utils.py::test_slerp[(10, 40, 25)]
[gw8] [ 94%] PASSED tests/test_rigid_physics.py::test_heterogeneous_aabb
[gw32] [ 94%] PASSED tests/test_usd.py::test_ant_capsule_axis_collision
[gw0] [ 94%] PASSED tests/test_sph.py::test_sph_initial_density_regular_sampler[WCSPH]
[gw21] [ 94%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink[gpu]
tests/test_sensor_camera.py::test_rasterizer_non_batched[1]
[gw3] [ 94%] PASSED tests/test_usd.py::test_pure_rigid_body_fixed[False]
[gw58] [ 94%] PASSED tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[0]
tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[right]
[gw63] [ 95%] PASSED tests/test_rigid_physics.py::test_mesh_align
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-DFSPH]
[gw41] [ 95%] PASSED tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[2.0]
[gw7] [ 95%] PASSED tests/test_viewer.py::test_default_viewer_plugin
[gw57] [ 95%] PASSED tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[gpu]
tests/test_usd.py::test_collision_only_fixed_override[False-6]
[gw9] [ 95%] PASSED tests/test_sph.py::test_sph_initial_density_regular_sampler[DFSPH]
[gw58] [ 95%] PASSED tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[right]
[gw59] [ 96%] PASSED tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[2]
[gw39] [ 96%] PASSED tests/test_utils.py::test_geom_quadrants_inverse[(10, 40, 25)]
[gw28] [ 96%] PASSED tests/test_rigid_physics.py::test_urdf_parsing
[gw2] [ 96%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[0]
[gw51] [ 96%] PASSED tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[2]
[gw61] [ 96%] PASSED tests/test_sensors.py::test_kinematic_contact_probe_box_support[0]
[gw35] [ 96%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[0]
[gw26] [ 97%] PASSED tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[cpu]
[gw45] [ 97%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[gpu]
tests/test_usd.py::test_usd_visual_parse[usd/sneaker_airforce]
[gw29] [ 97%] PASSED tests/test_sensor_camera.py::test_rasterizer_batched
[gw49] [ 97%] PASSED tests/test_sensor_camera.py::test_rasterizer_attached_batched
[gw63] [ 97%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-DFSPH]
[gw6] [ 97%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[gpu]
[gw57] [ 98%] PASSED tests/test_usd.py::test_collision_only_fixed_override[False-6]
[gw33] [ 98%] PASSED tests/test_usd.py::test_humanoid_generic_joint_detection
[gw56] [ 98%] PASSED tests/test_viewer.py::test_mouse_interaction_plugin
[gw46] [ 98%] PASSED tests/test_sensors.py::test_contact_sensors_gravity_force[0]
[gw13] [ 98%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[gpu]
tests/test_usd.py::test_primitives_mjcf_vs_usd[2.0-all_primitives_mjcf]
[gw48] [ 98%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-1.0-all_joints_mjcf]
[gw16] [ 98%] PASSED tests/test_usd.py::test_ur10_visual_fallback
[gw45] [ 99%] PASSED tests/test_usd.py::test_usd_visual_parse[usd/sneaker_airforce]
[gw14] [ 99%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-1.0-all_joints_mjcf]
[gw21] [ 99%] PASSED tests/test_sensor_camera.py::test_rasterizer_non_batched[1]
[gw12] [ 99%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-2.0-all_joints_mjcf]
[gw15] [ 99%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-2.0-all_joints_mjcf]
[gw11] [ 99%] PASSED tests/test_usd.py::test_primitives_mjcf_vs_usd[1.0-all_primitives_mjcf]
[gw13] [100%] PASSED tests/test_usd.py::test_primitives_mjcf_vs_usd[2.0-all_primitives_mjcf]

============================================================================================================================== slowest durations ===============================================================================================================================
328.21s call     tests/test_ipc.py::test_cloth_corner_drag[0]
281.70s call     tests/test_ipc.py::test_cloth_corner_drag[2]
256.08s call     tests/test_rigid_physics.py::test_cholesky_tiling[gpu-64]
251.39s call     tests/test_grad.py::test_differentiable_rigid[gpu]
225.24s call     tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-False]
214.79s call     tests/test_integration.py::test_pick_and_place[gpu-1]
210.47s call     tests/test_hybrid.py::test_rigid_mpm_muscle
205.13s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-1.0]
202.73s call     tests/test_rigid_physics.py::test_multi_robot_inverse_kinematics
201.20s call     tests/test_hybrid.py::test_mesh_mpm_build
199.72s call     tests/test_rigid_physics.py::test_heterogeneous_simulation
198.94s call     tests/test_rigid_physics.py::test_convexify[gpu-True-(90, 0, 90)]
197.92s call     tests/test_integration.py::test_pick_and_place[gpu-2]
197.76s call     tests/test_integration.py::test_pick_and_place[gpu-0]
196.04s call     tests/test_ipc.py::test_robot_grasp_fem[two_way_soft_constraint]
193.68s call     tests/test_rigid_physics.py::test_batched_info[True-True-True]
190.91s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-0.04]
189.90s call     tests/test_render.py::test_sensors_draw_debug[RASTERIZER-2]
189.87s call     tests/test_render.py::test_sensors_draw_debug[RASTERIZER-0]
186.80s call     tests/test_rigid_physics.py::test_data_accessor[0-False-gpu]
183.10s call     tests/test_render.py::test_camera_follow_entity[RASTERIZER-2]
182.96s call     tests/test_rigid_physics.py::test_batched_info[False-False-False]
181.94s call     tests/test_rigid_physics.py::test_cholesky_tiling[gpu-32]
181.10s call     tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-2]
180.89s call     tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[gpu]
177.71s call     tests/test_rigid_physics.py::test_batched_info[False-True-True]
177.46s call     tests/test_rigid_physics.py::test_convexify[gpu-False-(90, 0, 90)]
176.28s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-0.04]
176.13s call     tests/test_sensors.py::test_add_and_read_all_registered_sensors
175.89s call     tests/test_rigid_physics.py::test_batched_info[True-False-True]
175.86s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-2]
175.24s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-0.04]
175.23s call     tests/test_rigid_physics.py::test_batched_info[False-True-False]
175.21s call     tests/test_render.py::test_camera_follow_entity[RASTERIZER-0]
173.47s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-1.0]
172.19s call     tests/test_rigid_physics.py::test_batched_info[False-False-True]
166.74s call     tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-0]
165.55s call     tests/test_rigid_physics.py::test_convexify[gpu-False-(74, 15, 90)]
165.32s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-1.0]
164.87s call     tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-True]
164.56s call     tests/test_rigid_physics.py::test_batched_info[True-False-False]
164.20s call     tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[gpu]
163.95s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-1.0]
163.70s call     tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[gpu]
163.66s call     tests/test_render.py::test_rasterizer_env_separate[True-RASTERIZER]
163.27s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-0.04]
162.66s call     tests/test_rigid_physics.py::test_batched_info[True-True-False]
162.15s call     tests/test_rigid_physics.py::test_scene_saver_franka[gpu]
160.84s call     tests/test_rigid_physics.py::test_contact_forces[gpu-32]
160.79s call     tests/test_rigid_physics.py::test_extended_broadcasting
158.88s call     tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-1.0-all_joints_mjcf]
158.78s call     tests/test_kinematic.py::test_track_rigid
158.70s call     tests/test_rigid_physics.py::test_num_contact_overflow[gpu]
154.29s call     tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[3]
152.06s call     tests/test_render.py::test_deterministic[RASTERIZER]
151.97s call     tests/test_deformable_physics.py::test_deformable_parallel[gpu]
150.99s call     tests/test_rigid_physics.py::test_mass_mat
150.37s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-0]
148.82s call     tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(3, 3), (4, 4)]-None]
148.14s call     tests/test_sensor_camera.py::test_camera_lookat_entity
146.16s call     tests/test_render.py::test_rasterizer_env_separate[False-RASTERIZER]
145.08s call     tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[(10, 40, 25)]
143.96s call     tests/test_usd.py::test_primitives_mjcf_vs_usd[1.0-all_primitives_mjcf]
142.71s setup    tests/test_rigid_physics.py::test_stickman[gpu-True-Euler-Newton-xml/humanoid.xml]
140.65s call     tests/test_sensors.py::test_contact_sensors_gravity_force[2]
140.15s call     tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_glb/dual_arms_glb.urdf]
139.06s call     tests/test_rigid_physics.py::test_convexify[gpu-True-(74, 15, 90)]
138.62s call     tests/test_integration.py::test_hanging_rigid_cable[gpu]
138.37s call     tests/test_rigid_physics.py::test_normalized_quat
137.96s call     tests/test_rigid_physics.py::test_inverse_kinematics_multilink[gpu]
136.54s call     tests/test_rigid_physics.py::test_reset
135.76s call     tests/test_render.py::test_deterministic[BATCHRENDER_RAYTRACER]
135.30s call     tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RAYTRACER]
135.02s call     tests/test_rigid_physics.py::test_mjcf_parsing_with_include
134.54s call     tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[gpu]
133.70s call     tests/test_sensors.py::test_proximity_sensor_box_sphere[0]
133.07s call     tests/test_rigid_physics.py::test_pick_heterogenous_objects[gpu]
132.74s call     tests/test_rigid_physics.py::test_dynamic_weld
132.32s call     tests/test_usd.py::test_usd_bake[cuda-usd/franka_mocap_teleop/table_scene.usd]
131.60s call     tests/test_rigid_physics.py::test_contype_conaffinity
131.42s call     tests/test_rigid_physics.py::test_heterogeneous_fewer_envs_than_variants
131.09s call     tests/test_rigid_physics.py::test_mesh_align
130.86s call     tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[0]
130.25s call     tests/test_sensor_camera.py::test_rasterizer_attached_batched
130.01s call     tests/test_render.py::test_madrona_lights[BATCHRENDER_RAYTRACER]
128.63s call     tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RASTERIZER]
126.95s call     tests/test_ipc.py::test_objects_colliding[2]
126.66s call     tests/test_rigid_physics.py::test_cholesky_tiling_large_shared_memory[cuda]
126.50s call     tests/test_sensors.py::test_proximity_sensor_box_sphere[2]
125.97s call     tests/test_rigid_physics.py::test_apply_external_forces[double_ball_pendulum]
124.90s call     tests/test_rigid_physics.py::test_heterogeneous_robots
124.11s call     tests/test_rigid_physics.py::test_inverse_kinematics_local_point[0]
123.41s call     tests/test_sensors.py::test_raycaster_hits[0]
123.38s call     tests/test_rigid_physics.py::test_urdf_capsule
123.36s call     tests/test_rigid_physics.py::test_set_root_pose[False-False]
123.02s call     tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RAYTRACER]
121.82s call     tests/test_sensor_camera.py::test_rasterizer_batched
121.54s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-4]
121.25s call     tests/test_sensor_camera.py::test_raytracer[0]
120.08s call     tests/test_rigid_physics.py::test_inverse_kinematics_local_point[2]
119.85s call     tests/test_rigid_physics.py::test_set_sol_params[0-False]
119.58s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-3]
119.54s call     tests/test_rigid_physics.py::test_set_root_pose[True-True]
119.37s call     tests/test_sensors.py::test_raycaster_hits[2]
119.18s call     tests/test_rigid_physics.py::test_urdf_parsing
119.09s call     tests/test_render.py::test_batch_deformable_render[RASTERIZER]
118.90s call     tests/test_rigid_physics.py::test_merge_entities[True-True]
118.85s call     tests/test_rigid_physics.py::test_set_root_pose[True-False]
118.24s call     tests/test_rigid_physics.py::test_dynamic_weld_scene_reset
116.74s call     tests/test_sensor_camera.py::test_raytracer_attached_without_offset_T
115.97s call     tests/test_rigid_physics.py::test_frictionloss_advanced
115.87s call     tests/test_render.py::test_deterministic[BATCHRENDER_RASTERIZER]
115.77s call     tests/test_sensor_camera.py::test_raytracer[1]
115.73s call     tests/test_rigid_physics.py::test_filter_neutral_self_collisions
115.37s call     tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RAYTRACER]
115.10s call     tests/test_rigid_physics.py::test_urdf_parsing_undefined_inertia[undefined_inertia]
114.80s call     tests/test_quadrants.py::test_num_envs[False-False-gpu-None]
114.78s call     tests/test_sensor_camera.py::test_batch_renderer[2-cuda]
114.76s call     tests/test_rigid_physics.py::test_ellipsoid[ellipsoid]
114.76s call     tests/test_rigid_physics.py::test_info_batching
114.25s call     tests/test_render.py::test_madrona_lights[BATCHRENDER_RASTERIZER]
114.16s call     tests/test_quadrants.py::test_num_envs[False-True-gpu-None]
114.02s call     tests/test_hybrid.py::test_sap_fem_vs_robot[64]
113.78s call     tests/test_rigid_physics.py::test_data_accessor[3-False-cpu]
113.64s call     tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[2]
113.52s call     tests/test_rigid_physics.py::test_merge_entities[True-False]
113.49s call     tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RASTERIZER]
112.89s call     tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RAYTRACER]
112.88s call     tests/test_sensor_camera.py::test_batch_renderer[0-cuda]
112.73s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-5]
112.55s call     tests/test_render.py::test_segmentation_map[particle-entity-RASTERIZER]
112.41s call     tests/test_ipc.py::test_momentum_conservation[2]
111.84s call     tests/test_rigid_physics.py::test_merge_entities[False-True]
111.80s call     tests/test_sensor_camera.py::test_rasterizer_non_batched[0]
111.49s call     tests/test_rigid_physics.py::test_robot_scaling_primitive_collision
111.47s call     tests/test_rigid_physics.py::test_set_sol_params[3-True]
110.69s call     tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_mjcf]
110.48s call     tests/test_usd.py::test_humanoid_generic_joint_detection
110.17s call     tests/test_rigid_physics.py::test_urdf_align
110.11s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-7]
109.73s call     tests/test_quadrants.py::test_ndarray_no_compile[cpu-[(1, 0), (2, 1), (2, 2), (3, 3)]-None]
109.59s call     tests/test_rigid_physics.py::test_set_root_pose[False-True]
109.58s call     tests/test_rigid_physics.py::test_merge_entities[False-False]
108.78s call     tests/test_grad.py::test_differentiable_rigid[cpu]
108.52s call     tests/test_sensors.py::test_contact_sensors_gravity_force[0]
108.46s call     tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[0]
108.23s call     tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[2]
107.27s call     tests/test_render.py::test_segmentation_map[visual-link-RASTERIZER]
106.43s call     tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RASTERIZER]
106.25s call     tests/test_sensors.py::test_kinematic_contact_probe_box_support[2]
106.03s call     tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-True-False]
105.09s call     tests/test_quadrants.py::test_num_envs[False-False-cpu-None]
105.08s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-0]
104.85s call     tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[0]
104.76s call     tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-True]
104.69s call     tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[2]
104.63s call     tests/test_render.py::test_render_api_advanced[0-RASTERIZER]
103.84s call     tests/test_render.py::test_segmentation_map[visual-geom-RASTERIZER]
103.58s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-6]
103.38s call     tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(1, 0), (2, 1)]-None]
102.95s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-8]
102.91s call     tests/test_render.py::test_segmentation_map[visual-entity-RASTERIZER]
102.87s call     tests/test_rigid_physics.py::test_energy_analytical_and_conservation[Euler]
102.83s call     tests/test_usd.py::test_ant_capsule_axis_collision
102.64s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-2]
102.60s call     tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[0]
102.18s call     tests/test_quadrants.py::test_num_envs[False-True-cpu-None]
102.18s call     tests/test_utils.py::test_geom_numpy_vs_torch_consistency[(10, 40, 25)]
101.83s call     tests/test_rigid_physics.py::test_get_constraints_api
101.55s call     tests/test_ipc.py::test_apply_forces_base_link[1-0]
101.55s call     tests/test_render.py::test_segmentation_map[particle-geom-RASTERIZER]
100.48s call     tests/test_rigid_physics.py::test_heterogeneous_aabb

(1783 durations < 100s hidden.)
=========================================================================================================================== short test summary info ============================================================================================================================
SKIPPED [2] tests/test_integration.py:216: SAPCoupler does not support ndarray yet.
SKIPPED [1] tests/conftest.py:100: Skipping unit tests requiring performance mode when running with Quadrants dynamic array mode.
XFAIL tests/test_fem.py::test_explicit_legacy_coupler_soft_constraint_box[64] - Constraint dynamics inconsistent with analytical formula
XFAIL tests/test_rigid_physics.py::test_nan_reset[Euler-CG-collision_edge_cases-3] - No reliable way to generate nan...
============================================================================================================ 647 passed, 3 skipped, 2 xfailed in 978.81s (0:16:18) =============================================================================================================

duburcqa · 2026-04-28T14:05:08Z

comparing Quadrants main vs this PR on Genesis main:

env	batch_size	backend	gjk_collision	constraint_solver	compile_time_main_s	compile_time_584_s	compile_time_delta_pct	runtime_fps_main	runtime_fps_584	runtime_fps_delta_pct	realtime_factor_main	realtime_factor_584	realtime_factor_delta_pct
anymal_random	30000	cuda	-	-	55.2	59.4	+7.61	9236721	9361265	+1.35	92367.2	93612.7	+1.35
anymal_uniform	30000	cuda	-	-	56.0	59.7	+6.61	12290801	12282935	-0.06	122908.0	122829.4	-0.06
anymal_uniform_kinematic	0	cpu	-	-	33.8	33.1	-2.07	2054	2087	+1.61	20.5	20.9	+1.95
anymal_uniform_kinematic	30000	cuda	-	-	57.1	59.8	+4.73	10466141	10424653	-0.40	104661.4	104246.5	-0.40
anymal_zero	0	cpu	-	-	29.9	30.0	+0.33	7257	7487	+3.17	72.6	74.9	+3.17
anymal_zero	30000	cuda	-	-	55.8	58.7	+5.20	18701483	19027039	+1.74	187014.8	190270.4	+1.74
box_pyramid_3	4096	cuda	-	-	70.4	74.5	+5.82	969382	982258	+1.33	9693.8	9822.6	+1.33
box_pyramid_4	4096	cuda	-	-	60.5	65.8	+8.76	388357	391878	+0.91	3883.6	3918.8	+0.91
box_pyramid_5	4096	cuda	-	-	71.4	76.2	+6.72	141016	138144	-2.04	1410.2	1381.4	-2.04
box_pyramid_6	4096	cuda	False	-	70.1	75.7	+7.99	59335	59578	+0.41	593.4	595.8	+0.40
box_pyramid_6	4096	cuda	True	-	52.7	56.8	+7.78	60333	61090	+1.25	603.3	610.9	+1.26
dex_hand	4096	cuda	-	-	81.4	85.6	+5.16	17048	17164	+0.68	1065.5	1072.8	+0.69
duck_in_box_easy	30000	cuda	False	-	54.9	58.3	+6.19	26662843	26455296	-0.78	266628.4	264553.0	-0.78
duck_in_box_easy	30000	cuda	True	-	37.5	40.3	+7.47	9549541	9743644	+2.03	95495.4	97436.4	+2.03
duck_in_box_hard	0	cpu	-	-	31.9	31.8	-0.31	5185	5180	-0.10	51.9	51.8	-0.19
duck_in_box_hard	30000	cuda	False	-	53.2	56.4	+6.02	10239009	10199112	-0.39	102390.1	101991.1	-0.39
duck_in_box_hard	30000	cuda	True	-	37.5	41.0	+9.33	3405035	3535235	+3.82	34050.3	35352.3	+3.82
franka	30000	cuda	-	-	52.0	55.3	+6.35	22058180	21483919	-2.60	220581.8	214839.2	-2.60
franka_accessors	0	cpu	-	-	29.6	29.4	-0.68	1227	1194	-2.69	12.3	11.9	-3.25
franka_accessors	30000	cuda	-	-	52.2	55.2	+5.75	15590143	15689359	+0.64	155901.4	156893.6	+0.64
franka_free	30000	cuda	-	-	51.2	53.3	+4.10	31981995	32240403	+0.81	319820.0	322404.0	+0.81
franka_random	0	cpu	-	-	28.9	28.7	-0.69	6457	6452	-0.08	64.6	64.5	-0.15
franka_random	30000	cuda	-	CG	51.7	52.4	+1.35	16737391	16582238	-0.93	167373.9	165822.4	-0.93
franka_random	30000	cuda	-	Newton	52.0	54.3	+4.42	16343418	16485210	+0.87	163434.2	164852.1	+0.87
franka_random	30000	cuda	False	-	51.8	50.9	-1.74	16534089	16491663	-0.26	165340.9	164916.6	-0.26
franka_random	30000	cuda	True	-	34.7	37.6	+8.36	11429393	11510503	+0.71	114293.9	115105.0	+0.71
g1_fall	4096	cuda	-	Newton	69.3	62.9	-9.24	921076	915388	-0.62	4605.4	4576.9	-0.62
go2	4096	cuda	False	CG	51.3	54.2	+5.65	3678736	3650973	-0.75	36787.4	36509.7	-0.75
go2	4096	cuda	False	Newton	70.6	71.0	+0.57	4438961	4429127	-0.22	44389.6	44291.3	-0.22
go2	4096	cuda	True	-	51.8	53.7	+3.67	3273783	3301747	+0.85	32737.8	33017.5	+0.85
shadow_hand_cubes	0	cpu	-	-	31.5	31.3	-0.63	40	41	+2.50	1.3	1.4	+7.69
shadow_hand_cubes_sparse	0	cpu	-	-	30.2	30.4	+0.66	66	66	+0.00	2.2	2.2	+0.00

speed_comparison_main_vs_584.csv

hughperkins · 2026-04-28T14:08:52Z

Nice! 🔥

checklist:

no user-facing changes => no doc changes required
performance changes
=> benchmarked on genesis => looking great 🙌
ran genesis unit tests
=> all passing

=> ok to merge

…s single-slot specialization - SSA-promotes the count alloca and emits constant-offset GEPs for max_size==1 stacks, dramatically reducing compile time on adstack-heavy reverse-mode kernels

…he four parametrized tests and the three debug=True overflow flags that landed on main via PR #584; only delta vs main is the new test_adstack_min_loop_carried_serial_range_for added by this PR (with the cpu / cuda / amdgpu arch restriction dropped now that the snap-stack fix lands all backends correctly)

* [Misc] Warn user to disable caching when print_ir/QD_DUMP_IR enabled (Genesis-Embodied-AI#425) Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> * [Build] Pin torch version to CUDA 12.8 for CUDA tests (Genesis-Embodied-AI#428) * [Misc] Fixing up taichi-dev urls (Genesis-Embodied-AI#429) * [Perf] Rename cuda_graph to gpu_graph across the codebase (Genesis-Embodied-AI#430) * Misc: fix typo integeral -> integral (Genesis-Embodied-AI#434) Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> * [Perf] CUDA graph 4: call from multiple locations (Genesis-Embodied-AI#420) * [Bug] Fix fastcache not restoring graph_do_while_arg (Genesis-Embodied-AI#435) * [Perf] Cache last-call result in perf_dispatch for single-compatible case (Genesis-Embodied-AI#438) * Fix gpu_graph fallback on old Nvidia GPU. (Genesis-Embodied-AI#443) * Fix shared memory offset not reset between CUDA kernels. (Genesis-Embodied-AI#442) * [Misc] Allow disabling GPU graph via QD_GPU_GRAPH=0 env var (Genesis-Embodied-AI#439) * [Misc] Add named top-level loops (Genesis-Embodied-AI#440) * [Misc] Rename gpu_graph to graph (Genesis-Embodied-AI#446) * [Misc] Add cross-platform shuffle (Genesis-Embodied-AI#447) * [Bug] Fix graph_do_while on Windows: search for cudadevrt.lib (Genesis-Embodied-AI#456) * [Bug] Also search default CUDA toolkit install location on Windows (Genesis-Embodied-AI#461) * [SPIRV] Feature Parity Atomics & Shared Array (Genesis-Embodied-AI#432) * [Misc] Change clang format to 120 characters (Genesis-Embodied-AI#463) * [Misc] CUDA graph 5 Add fatbin (Genesis-Embodied-AI#464) * [Bug] Reuse VkInstance across init/reset cycles (Genesis-Embodied-AI#465) * [Perf] Tiles 1: _load, _store, _eye_ (Genesis-Embodied-AI#466) * [Misc] Remove dead InternalFuncStmt type_check override (Genesis-Embodied-AI#471) * [Perf] Tiles 2: add cholesky and ger (Genesis-Embodied-AI#472) * [Perf] Tiles 2b: add triangular solve (Genesis-Embodied-AI#474) * [Misc] Refactor: use _get_col/_set_col in tiles load/store/init (Genesis-Embodied-AI#475) * [Build] Fix flaky test_clock_accuracy (Genesis-Embodied-AI#436) * Fix AARCH64 emitting invalid asm in CUDA kernels. (Genesis-Embodied-AI#473) Co-authored-by: Hugh Perkins <hughperkins@gmail.com> * [AMDGPU] Enable HIP memory pool and surface pool-exhaustion errors. (Genesis-Embodied-AI#485) * [AMDGPU] Scope hsaco tmp dir per-user to avoid collisions. (Genesis-Embodied-AI#484) * [Perf] Tiles 3: Add slice syntax, qd.outer() and initial doc (Genesis-Embodied-AI#477) * [AMDGPU] Fix gradient computation. (Genesis-Embodied-AI#486) * Enable all backends that are supported in unit tests. (Genesis-Embodied-AI#488) * Fix SPIRV ID overflow for large kernels due to autodiff. (Genesis-Embodied-AI#489) * [Misc] Fix purity checker to allow accessing constants from quadrants modules (Genesis-Embodied-AI#487) * [Misc] Increase tolerance for clock monotonic test (Genesis-Embodied-AI#492) * [CI] Serialize api doc workflow (Genesis-Embodied-AI#494) * [CI] Increase tolerance for clock test (Genesis-Embodied-AI#506) * [CI] Increase clock test tolerance to 20% (Genesis-Embodied-AI#509) * [Perf] Add tensor_type parametrization to tile16 tests (Genesis-Embodied-AI#504) * [Perf] Tiles 4b: Migrate tiles16 tests to enable fastcache (Genesis-Embodied-AI#505) * [Perf] Tiles 4c: add Tiles16x16 proxy (Genesis-Embodied-AI#507) * [Perf] Tiles 4d: Consolidate slice error tests using parametrize (Genesis-Embodied-AI#508) * [Perf] Tiles 4: add SharedArray slice support (Genesis-Embodied-AI#482) * [Perf] Tiles 5: add Cholesky benchmark demo (Genesis-Embodied-AI#483) * [Doc] Add user guide page for subgroup shuffle (Genesis-Embodied-AI#512) * [Perf] Implement cross-platform shuffle_down (Genesis-Embodied-AI#510) * [Perf] Add portable subgroup reduce_add and reduce_all_add (Genesis-Embodied-AI#511) * [Perf] Add first warmup config to perf dispatch (Genesis-Embodied-AI#422) * [AutoDiff] Autodiff 1: Add baseline adstack regression test for unary_collections (Genesis-Embodied-AI#500) * [AutoDiff] Autodiff 2: Implement derivative for tan (Genesis-Embodied-AI#501) * [AutoDiff] Autodiff 3: Recompute tanh/exp on the operand in the reverse pass (Genesis-Embodied-AI#502) * [AutoDiff] Autodiff 4: Mark rsqrt as non-linear for adstack promotion (Genesis-Embodied-AI#503) * [AutoDiff] Autodiff 5: Fix adjoint-alloca placement for GlobalLoads outside the current range-for (Genesis-Embodied-AI#496) * [AutoDiff] Autodiff 6: Adstack regression tests (Genesis-Embodied-AI#491) * [AutoDiff] Autodiff 7: Fix header size in AdStackAllocaStmt to match u64 runtime layout (Genesis-Embodied-AI#534) * [AutoDiff] Autodiff 8: Surface LLVM adstack push/pop overflow as a Python exception (Genesis-Embodied-AI#535) * [AutoDiff] Autodiff 9: Guard against LLVM worker-thread stack overflow from large per-task adstack budget (Genesis-Embodied-AI#495) * [AutoDiff] Autodiff 10: Implement adstack for SPIR-V (Genesis-Embodied-AI#490) * [AutoDiff] Autodiff 11: Latent adstack-adjacent fixes (AMDGPU hipFree, flush() keeps ctx_buffers_, always-preallocate) (Genesis-Embodied-AI#536) * [Doc] Add AGENTS.md with instructions for AI agents (Genesis-Embodied-AI#541) * [Bug] Abort kernel execution on assertion failure instead of segfaulting (Genesis-Embodied-AI#419) * [Type] ndarray typing 1: Add eval_str=True to inspect.signature() calls (Genesis-Embodied-AI#411) * [CI] Suppress reportPrivateImportUsage in torch-using files (Genesis-Embodied-AI#552) * [Misc] QD_DUMP_IR dumps to files with the task_id added to the filename (Genesis-Embodied-AI#441) * [Type] ndarray typing 2: Fix NDArray single-arg subscript crash (Genesis-Embodied-AI#412) * [Test] Flush xdist channel before worker exit so test failure reports are visible (Genesis-Embodied-AI#555) * [CI] Reduce test retries on CI from 3 to 1. (Genesis-Embodied-AI#554) * [AutoDiff] Autodiff 12: Heap-backed adstack on LLVM backends (CPU/CUDA/AMDGPU) (Genesis-Embodied-AI#537) * [AutoDiff] Autodiff 13: Heap-backed adstack on SPIR-V backends (Metal, Vulkan) (Genesis-Embodied-AI#493) * [AutoDiff] Autodiff 14: Resolve bounded-inner-loop adstacks without default_ad_stack_size fallback (Genesis-Embodied-AI#539) * [SPIRV] Vulkan SPIR-V correctness: atomic-view aliasing, PSB stride, narrow storage caps, u1 cast, per-init layer recheck (Genesis-Embodied-AI#513) * [Build] Autodiff 15: Replace 2022 MoltenVK pin with LunarG Vulkan SDK fetch and sanitise MoltenVK cap advertisement (Genesis-Embodied-AI#551) * [Test] Suppress stock pytest-timeout to avoid conflict with pytest_hardtle (Genesis-Embodied-AI#557) * [Vulkan] Use SDK validation layer for debugPrintf instead of apt package (Genesis-Embodied-AI#562) * [Test] Fix flaky perf_dispatch tests by increasing work amounts (Genesis-Embodied-AI#559) * [Test] Add --maxfail CLI option to run_tests.py (default 20) (Genesis-Embodied-AI#558) * [CI] Vulkan debug printf fix to address flaky tests (Genesis-Embodied-AI#563) * [Docs] Add a new page to help for first time contributors (Genesis-Embodied-AI#426) Authored-by: v01dxyz <v01dxyz@v01d.xyz> * [AutoDiff] Autodiff 16: Resolve reverse-mode adstack depths per-launch via runtime-evaluated SizeExpr (Genesis-Embodied-AI#543) * Fix: raise error if device memory allocation fails (Genesis-Embodied-AI#451) (Genesis-Embodied-AI#453) Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> Co-authored-by: Hugh Perkins <hughperkins@gmail.com> * [CI] Add CI job to check line wrapping of comments and docs (Genesis-Embodied-AI#564) * [Misc] Add coverage report to PRs, including kernels (Genesis-Embodied-AI#470) * [CI] CI wrap check feeds only diffs to agent (Genesis-Embodied-AI#567) * Skip 'flaky' test on MacOS CI. (Genesis-Embodied-AI#573) * [Test] Fix missing `import sys` in test_fail_device_memory_allocation (Genesis-Embodied-AI#574) * [CI] Fix Vulkan debugPrintf flake with session-scoped warmup (Genesis-Embodied-AI#571) * [AutoDiff] determine_ad_stack_size: replace whole-CFG Bellman-Ford with SCC + DAG DP (Genesis-Embodied-AI#575) * [Test] Fix macOS OOM skip reason to describe actual root cause (Genesis-Embodied-AI#576) * [Lang] whole_kernel_cse: 2.5x compile time speedup on large kernels (Genesis-Embodied-AI#577) * [CI] Add CI check for unnecessarily deleted comments (Genesis-Embodied-AI#570) * [CI] Migrate coverage report to github Check page (Genesis-Embodied-AI#566) * [Lang] Skip IR verifier between passes unless debug=true (Genesis-Embodied-AI#579) * [Lang] Inline AdStack ops on release LLVM codegen: dramatically reduces compile time for adstack-enabled reverse-mode kernels (Genesis-Embodied-AI#584) * [CUDA] Honor offline_cache=False end-to-end so QD_OFFLINE_CACHE=0 actually gives a cold compile (Genesis-Embodied-AI#580) * [Type] Tensor 24 (Genesis-Embodied-AI#561) Co-authored-by: hugh <hugh@slurm-login-0.slurm-login.tenant-slurm.svc.cluster.local> * [Lang] auto_diff host-walk reductions: dramatically faster front-end compile time on adstack-enabled reverse-mode kernels (Genesis-Embodied-AI#587) * [AutoDiff] Speed up reverse-mode kernel launches on GPU backends (Genesis-Embodied-AI#578) * [Vulkan] Move adstack-sizer scratch out of Function-scope memory to fix SPIR-V pipeline build failures (Genesis-Embodied-AI#588) * [AutoDiff] Improve diagnosis of unsupported reverse-mode AD patterns (Genesis-Embodied-AI#590) * [Bug] Fix: promote Ndarray to AnyArray in build_Name for flattened struct fields (Genesis-Embodied-AI#592) * [SPIR-V] Shrink reverse-grad kernel MSL by ~50% (Genesis-Embodied-AI#591) * [CI] Add CI check that PR changes have test coverage (Genesis-Embodied-AI#596) * [Perf] Enable zero-copy in to_torch() and to_numpy() (Genesis-Embodied-AI#450) * Add BufferView: safe sub-range ndarray access for kernels (Genesis-Embodied-AI#585) Co-authored-by: alanray-tech <alanray-tech@users.noreply.github.com> Co-authored-by: Hugh Perkins <hughperkins@gmail.com> * [Doc] Add user-facing fastcache documentation (Genesis-Embodied-AI#597) Co-authored-by: hugh <hugh@slurm-login-0.slurm-login.tenant-slurm.svc.cluster.local> * [Misc] Upgrade to enable v1 dlpack so to_numpy(copy=False) writable (Genesis-Embodied-AI#598) Co-authored-by: root <root@rtx-209-201.slurm-compute.tenant-slurm.svc.cluster.local> * [AutoDiff] Cut reverse-mode adstack memory usage 10x on all backends (Genesis-Embodied-AI#599) * [Misc] Add CI check for feature file factorization (Genesis-Embodied-AI#606) * [Perf] Skip _recursive_set_args for all-Field frozen dataclass structs (Genesis-Embodied-AI#607) Co-authored-by: Cursor <cursoragent@cursor.com> * [AutoDiff] SNode-arm bound-expr capture rejects fold-attack gate indices (Genesis-Embodied-AI#610) * [Misc] Suppress field fastcache warning for qd.Tensor (Genesis-Embodied-AI#615) Co-authored-by: Cursor <cursoragent@cursor.com> * [AutoDiff] Adstack heap: clip reducer count by per-task loop trip count (compile-time and SizeExpr-evaluated) (Genesis-Embodied-AI#611) * [Misc] Forward copy= through qd.Tensor, add copy=None option (Genesis-Embodied-AI#616) Co-authored-by: Cursor <cursoragent@cursor.com> * [Doc] Update README (Genesis-Embodied-AI#617) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Fix coverage report showing def lines as uncovered (Genesis-Embodied-AI#623) Co-authored-by: Cursor <cursoragent@cursor.com> * [Perf] Generic launcher: persistent context, JIT-pointer reuse, Metal compute encoder, LLVM-GPU async memory ops (Part 1/2) (Genesis-Embodied-AI#619) * [CI] Encode Python-first testing policy in coverage-check prompt (Genesis-Embodied-AI#622) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Add PR Line change report (Genesis-Embodied-AI#624) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Disable quadrants pytest plugin during quadrants internal coverage runs (Genesis-Embodied-AI#629) Co-authored-by: Cursor <cursoragent@cursor.com> * [AutoDiff] Adstack load+store eliminations: EliminateRecomputableAdStackPushes pass + leaf extensions (Genesis-Embodied-AI#621) * [CI] Simplify coverage PR comment to a single linked line (Genesis-Embodied-AI#630) * [CUDA] Add AGX Thor, SM_110 (Genesis-Embodied-AI#631) Co-authored-by: Johnny Nunez and Hugh Perkins * [CI] Lines changed report: collapse PR comment to a single linked totals line (Genesis-Embodied-AI#632) * [FEATURE] Support external Metal command queue via qd.init (Genesis-Embodied-AI#618) Co-authored-by: Cursor <cursoragent@cursor.com> * [Perf] Cache adstack-sizer metadata per task across SPIR-V + LLVM-GPU; per-snode / DeviceAllocation invalidation (Part 2/2) (Genesis-Embodied-AI#620) * [AutoDiff] Disable EliminateRecomputableAdStackPushes pending mutated-SNode chain-leaf fix (Genesis-Embodied-AI#633) * [AutoDiff] Adstack chain-clone safety: mutated-SNode leaf reject + load_top consumer-aware guard (Genesis-Embodied-AI#634) * [Docs] Add user-guide page for qd.simt.block.* primitives (Genesis-Embodied-AI#638) * [Docs] Expand qd.simt.subgroup user-guide page to cover every op (Genesis-Embodied-AI#639) * [Perf] Streams 1-4 (Genesis-Embodied-AI#410) * [Docs] Add user-guide page for matrix decompositions and solvers (Genesis-Embodied-AI#643) * [Bug] Revert "[Perf] Streams 1-4 (Genesis-Embodied-AI#410)" (Genesis-Embodied-AI#650) * [Docs] Add user-guide page for atomics and bit operations (Genesis-Embodied-AI#640) * [Docs] Add user-guide page for qd.simt.grid.* primitives (Genesis-Embodied-AI#641) * [AutoDiff] Adstack max-reducer: parallel multi-axis MaxOverRange dispatch (Genesis-Embodied-AI#635) * [AMDGPU] Fix amdgpu parallel rand init (Genesis-Embodied-AI#658) * [Perf] Adstack: skip max-reducer recognizer on CPU + lift host-eval cap (Genesis-Embodied-AI#655) * [Perf] Re-land Streams 1-4 with bug fixes (Genesis-Embodied-AI#653) * [AMDGPU] Apply device_memory_GB=0.3 cap to AMDGPU tests (Genesis-Embodied-AI#659) * [Perf] Per-launch host sync: drop wait_idle on SPIR-V, pin stream and drop stream_synchronize on CUDA/AMDGPU (Genesis-Embodied-AI#654) * [AMDGPU] Unload hipModule_t in JITModuleAMDGPU destructor (Genesis-Embodied-AI#660) * [AMDGPU] Trim default mempool on qd.reset() (Genesis-Embodied-AI#669) * [AMDGPU] Hoist rand-state buffer to process lifetime (Genesis-Embodied-AI#668) * [Streams] Use events for streams serialization on AMDGPU and CUDA (Genesis-Embodied-AI#667) * [Perf] Adstack max-reducer: launch cache + zero-copy result map; content-stable registry_id (Genesis-Embodied-AI#671) * [SPIR-V] dispatch_max_reducers: register each task with the real kernel name (Genesis-Embodied-AI#675) * [AutoDiff] Debug-mode field/grad/dual: dtype, layout, and access-time invariants (Genesis-Embodied-AI#677) * [Docs] Add user-guide page for qd.algorithms.* device-wide algorithms (Genesis-Embodied-AI#642) Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> * [Docs] Doc for existing atomics: switch support table to per-backend columns (Genesis-Embodied-AI#657) Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> * [GPU] Cross gpu atomics (Genesis-Embodied-AI#666) Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> * [GPU] Make block operations portable cross-gpu (Genesis-Embodied-AI#664) * [Perf] CPU LLVM adstack-cache: skip per-launch bump-writes + ndarray_shapes capture on forward-only handles (Genesis-Embodied-AI#685) * [GPU] Cross-GPU for grid ops (Genesis-Embodied-AI#670) * [Math] Make bitop operations portable cross-gpu (Genesis-Embodied-AI#662) * [AMDGPU] Always use wave64, on both RDNA and CDNA (Genesis-Embodied-AI#687) * [AMDGPU] Use syncscope("agent") for atomix xor to avoid CAS livelock (Genesis-Embodied-AI#672) * [GPU] New bit ops for QIPC (Genesis-Embodied-AI#679) * [GPU] Subgroup ops cross-gpu (Genesis-Embodied-AI#665) * [Graph] Rename CUDA Graph to Graph in docs (Genesis-Embodied-AI#691) * [SPIR-V] Fix FIFO-queue ordering when sharing command queue. (Genesis-Embodied-AI#694) * [Atomics] New QIPC ops for atomics (Genesis-Embodied-AI#690) * Pass dataclass sub-structs into qd.func (Genesis-Embodied-AI#698) * [AMDGPU] HIP graph runtime support for @qd.kernel(graph=True) (Genesis-Embodied-AI#692) * [CI] Add per-file timing report to Mac Metal test job (Genesis-Embodied-AI#695) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Enable kernel disk cache during tests (Genesis-Embodied-AI#696) * [Math] New QIPC ops for single-threaded linalg (Genesis-Embodied-AI#683) * [BREAKING][GPU] New QIPC ops for subgroups (Genesis-Embodied-AI#676) * [GPU] New QIPC ops for block (Genesis-Embodied-AI#684) * [GPU] New device-level ops for QIPC (Genesis-Embodied-AI#693) * [algorithms] PrefixSumExecutor: drop unused GRID_SZ local (Genesis-Embodied-AI#701) * [block] sync(): fix unsupported-arch error message (Genesis-Embodied-AI#700) * [volatile_load] add qd.volatile_load primitive (closes Genesis-Embodied-AI#648) (Genesis-Embodied-AI#702) * [AutoDiff] Reject recycled identity_key in AdStackCache::register_adstack_sizing_info (Genesis-Embodied-AI#708) * [Vulkan] Declare GroupNonUniform SPIR-V caps and enable shaderSubgroupExtendedTypes (Genesis-Embodied-AI#707) * Fix duplicate HIP graph driver-function declarations after v1.0.0 merge The amd-integration fork had cherry-picked the HIP graph driver functions (graph_create / graph_destroy / graph_add_kernel_node / graph_instantiate / graph_exec_destroy / graph_launch), and upstream v1.0.0 added the same set. The per-file 3-way merge appended both copies into amdgpu_driver_functions.inc.h, producing redeclaration errors that broke the AMDGPU RHI/runtime compile. Drop the upstream duplicate block; the signatures are identical to the fork's existing declarations. Co-authored-by: Cursor <cursoragent@cursor.com> * Fix AMDGPU launcher coherence and num_instructions visibility after v1.0.0 merge - kernel_launcher.cpp: the 3-way merge spliced upstream v1.0.0's launch_llvm_kernel rewrite (ephemeral arg/context buffers, explicit-stream path, AmdgpuDefaultStream PinGuard) onto the AMD fork's kernarg-by-value + persistent-scratch design, leaving references to undefined `ephemeral_context_ptr`. Restore the fork's coherent launch_llvm_kernel verbatim; it calls the (already merged) enhanced launch_offloaded_tasks, which keeps the max-reducer dispatch and stream-parallel groups adapted onto the AMD launch path. - llvm_context.h: both the fork and upstream added `num_instructions`; the merge kept upstream's private placement, but the AMDGPU codegen force-inline heuristic calls it statically from outside the class. Move it back to the public section. Co-authored-by: Cursor <cursoragent@cursor.com> * Restore async result D2H and hoist kernarg vectors in AMDGPU launcher The v1.0.0 merge resolution regressed two amd-integration baseline optimizations in launch_llvm_kernel / launch_offloaded_tasks: - The per-launch result-buffer copy was a blocking memcpy_device_to_host, forcing a host stall on every value-returning launch and serializing the GPU pipeline. Restore the async D2H (the caller synchronizes lazily when it needs the value); external-array transfers still stream_synchronize once before reading back. - launch_task constructed the kernarg std::vectors from initializer lists ({kernarg_payload} / {kernarg_size}) on every dispatch (heap alloc + free per launch). Hoist arg_ptrs/arg_sizes out of the per-task launch and reuse. Co-authored-by: Cursor <cursoragent@cursor.com> * amdgpu: default to LDS permlane64 emulation; drop host-x86 barrier asm on retarget Two AMDGPU JIT-compile crashes surfaced after the v1.0.0 merge pulled in the QIPC subgroup ops (Genesis-Embodied-AI#676), which made the rigid constraint solver's wave-cooperative reductions route through `amdgpu_cross_half_shuffle_i32`. Both manifested as a SIGSEGV inside `llvm::SIInstrInfo::getInstSizeInBytes` during `JITSessionAMDGPU::compile_module_to_hsaco` (i.e. at first kernel launch), and reproduce on gfx942 / MI300X. Baseline 0.4.6 never emitted these constructs, which is why it was unaffected. 1. Native `llvm.amdgcn.permlane64` lowering crashes the bundled LLVM 22.1.0 AMDGPU backend. Default `amdgpu_permlane64` to the existing LDS-roundtrip software emulation on every target (it produces identical results). Add `QD_AMDGPU_USE_NATIVE_PERMLANE64=1` to opt back into the native instruction once the backend bug is fixed; the old `QD_AMDGPU_FORCE_PERMLANE64_FALLBACK` is now the default and still honored. This is the actual crash fix. 2. The runtime module is compiled by the host x86_64 clang and only retargeted to amdgcn here, so `amdgpu_cross_half_shuffle_i32`'s `__asm__ volatile("" : "+v"(byte))` optimization barrier carries x86 flag clobbers (`~{dirflag},~{fpsr},~{flags}`) that are meaningless on AMDGPU. The IR verifies but the empty-body INLINEASM is invalid on the amdgcn target. Neutralize empty-body barrier asm during retarget (forward the tied value, then erase) so no stale host asm reaches codegen. On the wave64 targets we ship `ds_bpermute` already addresses the full wave, so the hint is a no-op. Co-authored-by: Cursor <cursoragent@cursor.com> * style: apply clang-format (v19.1.7) to AMDGPU fn_attrs and launcher sources CI pre-commit's clang-format hook reformatted these files (long declarations/lambda signatures collapsed onto single lines per the repo's clang-format config). Apply the same formatting so the hook passes. No functional changes. Co-authored-by: Cursor <cursoragent@cursor.com> * fix(amdgpu): use CreateNeg for branchless i32 sgn instead of CreateSub(0, input) clang-tidy (modernize-use-nullptr, -warnings-as-errors) flagged `builder->CreateSub(0, input)` in the i32 sgn path: the literal `0` binds to the `llvm::Value*` LHS parameter as a null pointer, not an integer zero. Replace with `builder->CreateNeg(input)`, which emits `0 - input` with a proper zero constant -- identical intended semantics, and clang-tidy clean. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Co-authored-by: Robert Dazi <14996868+v01dXYZ@users.noreply.github.com> Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> Co-authored-by: Hugh Perkins <hughperkins@gmail.com> Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com> Co-authored-by: hugh <hugh@slurm-login-0.slurm-login.tenant-slurm.svc.cluster.local> Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> Co-authored-by: alanray-tech <alanray-tech@users.noreply.github.com> Co-authored-by: root <root@rtx-209-201.slurm-compute.tenant-slurm.svc.cluster.local> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Johnny <johnnynuca14@gmail.com>

[Lang] SSA-promote adstack count per task on LLVM backends

fc6350c

chatgpt-codex-connector Bot reviewed Apr 28, 2026

View reviewed changes

Comment thread quadrants/codegen/llvm/codegen_llvm.cpp Outdated

duburcqa changed the title ~~[Lang] SSA-promote adstack count per task on LLVM backends~~ [Lang] Inline AdStack ops on release LLVM codegen: ~200s ptxas cold-compile reduction on adstack-enabled reverse-mode kernels Apr 28, 2026

[Test] Cross-check unrolled-many-pushes adstack codegen against PyTor…

005e850

…ch autograd

duburcqa changed the title ~~[Lang] Inline AdStack ops on release LLVM codegen: ~200s ptxas cold-compile reduction on adstack-enabled reverse-mode kernels~~ [Lang] Inline AdStack ops on release LLVM codegen: dramatically reduces compile time for adstack-enabled reverse-mode kernels Apr 28, 2026

[Test] Add coverage tests for adstack codegen on accumulator-mixed an…

a142bd5

…d repeated-load-top kernel shapes

[Lang] Fix adstack push memset alignment claim for non-8-byte element…

8a8bc1d

… sizes

[Test] Pin debug=True on adstack overflow tests now that release-buil…

4e0e2eb

…d elides the bounds check

duburcqa added 2 commits April 28, 2026 12:39

[Test] Loosen rel tolerance to 5e-6 for repeated_load_top test (cos(s…

e1b0ebc

…in(x)) chain)

duburcqa mentioned this pull request Apr 28, 2026

[Lang] auto_diff host-walk reductions: dramatically faster front-end compile time on adstack-enabled reverse-mode kernels #587

Merged

duburcqa merged commit a282729 into main Apr 28, 2026
53 checks passed

duburcqa deleted the duburcqa/adstack_release_inline_ssa_count branch April 28, 2026 14:35

Uh oh!

Conversation

duburcqa commented Apr 28, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Why

Surface API

Mechanism

Before (one helper call per op)

After, multi-slot release path (inline IR, per-stack alloca)

After, single-slot release path (constant-offset GEP, no count state)

Heap layout (unchanged)

Per-backend matrix

Tests

Side-effect audit

Uh oh!

chatgpt-codex-connector Bot left a comment

Choose a reason for hiding this comment

💡 Codex Review

Uh oh!

Uh oh!

duburcqa commented Apr 28, 2026

Uh oh!

duburcqa commented Apr 28, 2026

Uh oh!

github-actions Bot commented Apr 28, 2026

Coverage Report (8a8bc1d41)

Uh oh!

duburcqa commented Apr 28, 2026

Uh oh!

github-actions Bot commented Apr 28, 2026

Coverage Report (4e0e2eb10)

Uh oh!

duburcqa commented Apr 28, 2026

Uh oh!

github-actions Bot commented Apr 28, 2026

Coverage Report (e1b0ebcf4)

Uh oh!

duburcqa commented Apr 28, 2026

Uh oh!

hughperkins commented Apr 28, 2026

Uh oh!

duburcqa commented Apr 28, 2026

Uh oh!

duburcqa commented Apr 28, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

hughperkins commented Apr 28, 2026

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

duburcqa commented Apr 28, 2026 •

edited

Loading

Coverage Report (`8a8bc1d41`)

Coverage Report (`4e0e2eb10`)

Coverage Report (`e1b0ebcf4`)

duburcqa commented Apr 28, 2026 •

edited

Loading