{ "platform": "macOS-26.5-arm64-arm-64bit", "seeds": [ 1, 7, 19 ], "repeats": 3, "warmups": 1, "seconds": 8, "records": [ { "seed": 1, "repeat": 1, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.1, "lastSecondMaxSpeed": 8.128543938e-06, "lastSecondMeanEnergy": 1.4624039627499998e-12, "deepestOverlapMm": 0.002215876779561743, "overlappingPairs": 0, "meanOverlapMm": 0, "pileTopMm": 153.64923240616287, "meanCentreHeightMm": 50.52396406976909, "supportOverWeight": null, "floorOverWeight": 1.0520810699000456, "totalMassKg": 13.719582944036697, "wallSeconds": 0.455249, "realTimeFactor": 17.572800818892517, "worstStepMs": 6.121125, "work": { "stepsPerSecond": 120, "newtonIterations": 5660, "factorizations": 5655, "passes": 1634 } }, { "seed": 1, "repeat": 1, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 1.7166666666666666, "lastSecondMaxSpeed": 1.2836287139551208e-05, "lastSecondMeanEnergy": 1.5232924920262726e-12, "deepestOverlapMm": 6.974645597421587, "overlappingPairs": 76, "meanOverlapMm": 1.1080619373322458, "pileTopMm": 180.57479019220614, "meanCentreHeightMm": 50.103105018934, "supportOverWeight": null, "floorOverWeight": 1.1498707305578062, "totalMassKg": 13.71957820281386, "wallSeconds": 0.21707912299999965, "realTimeFactor": 36.85292205644305, "worstStepMs": 26.591875, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 1, "repeat": 1, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.16579956121460526, "lastSecondMeanEnergy": 0.0003920506068115718, "deepestOverlapMm": 6.768804043101061, "overlappingPairs": 86, "meanOverlapMm": 1.1450981553941793, "pileTopMm": 164.00989120539262, "meanCentreHeightMm": 42.618998679245124, "supportOverWeight": null, "floorOverWeight": 1.1941424876102147, "totalMassKg": 13.71957820281386, "wallSeconds": 0.16936563300000007, "realTimeFactor": 47.23508458176988, "worstStepMs": 24.09675, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 1, "repeat": 1, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": 6.866666666666666, "lastSecondMaxSpeed": 0.0021191302130791263, "lastSecondMeanEnergy": 9.316186214587539e-09, "deepestOverlapMm": 5.444358487346923, "overlappingPairs": 90, "meanOverlapMm": 0.6110804513328806, "pileTopMm": 161.6584553428407, "meanCentreHeightMm": 47.78587413238711, "supportOverWeight": null, "floorOverWeight": 1.3520958986009946, "totalMassKg": 13.71957820281386, "wallSeconds": 0.6371531309999996, "realTimeFactor": 12.55585134996379, "worstStepMs": 24.371125000000006, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 1, "repeat": 1, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 2, "settledAt": -1, "lastSecondMaxSpeed": 0.690932538787306, "lastSecondMeanEnergy": 0.008678861517758643, "deepestOverlapMm": 13.947915119814034, "overlappingPairs": 102, "meanOverlapMm": 1.00137963809886, "pileTopMm": 114.56894417104691, "meanCentreHeightMm": 29.194238274590944, "supportOverWeight": 0.9878437353817644, "floorOverWeight": 1.0195632847552933, "totalMassKg": 13.719732791237082, "wallSeconds": 6.535217539, "realTimeFactor": 1.2241367563143333, "worstStepMs": 23.38945800000003, "work": { "stepsPerSecond": 60, "solverIterations": 5157, "meanContacts": 232.81666666666666 } }, { "seed": 1, "repeat": 1, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.843158177907466, "lastSecondMeanEnergy": 0.0032591891659033718, "deepestOverlapMm": 3.739618498931549, "overlappingPairs": 101, "meanOverlapMm": 0.46302776284483593, "pileTopMm": 110.66920718267146, "meanCentreHeightMm": 35.499914136549506, "supportOverWeight": 0.9855815489198029, "floorOverWeight": 0.9875719801419746, "totalMassKg": 13.719732791237082, "wallSeconds": 11.684095022999992, "realTimeFactor": 0.6846914531465297, "worstStepMs": 20.090415999998612, "work": { "stepsPerSecond": 120, "solverIterations": 9619, "meanContacts": 224.228125 } }, { "seed": 1, "repeat": 1, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.03699628520566806, "lastSecondMeanEnergy": 1.4964067122475509e-05, "deepestOverlapMm": 0.24100780263469732, "overlappingPairs": 76, "meanOverlapMm": 0.045797709759177005, "pileTopMm": 141.71262243463306, "meanCentreHeightMm": 43.99199020914129, "supportOverWeight": 1.0037926262095005, "floorOverWeight": 0.9951840189284086, "totalMassKg": 13.719732791237082, "wallSeconds": 18.11477379599999, "realTimeFactor": 0.44162847905760316, "worstStepMs": 8.596249999999861, "work": { "stepsPerSecond": 480, "solverIterations": 32826, "meanContacts": 210.18515625 } }, { "seed": 1, "repeat": 1, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.2, "lastSecondMaxSpeed": 3.448319994e-06, "lastSecondMeanEnergy": 1.0520599440083334e-12, "deepestOverlapMm": 0.01068463647727546, "overlappingPairs": 1, "meanOverlapMm": 0.01068463647727546, "pileTopMm": 170.80074619696697, "meanCentreHeightMm": 52.67471642494832, "supportOverWeight": null, "floorOverWeight": 1.0325643801712665, "totalMassKg": 13.719582944036697, "wallSeconds": 0.335397, "realTimeFactor": 23.85233022358578, "worstStepMs": 5.8215, "work": { "stepsPerSecond": 60, "newtonIterations": 3239, "factorizations": 3234, "passes": 972 } }, { "seed": 1, "repeat": 2, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 1.7166666666666666, "lastSecondMaxSpeed": 1.2836287139551208e-05, "lastSecondMeanEnergy": 1.5232924920262726e-12, "deepestOverlapMm": 6.974645597421587, "overlappingPairs": 76, "meanOverlapMm": 1.1080619373322458, "pileTopMm": 180.57479019220614, "meanCentreHeightMm": 50.103105018934, "supportOverWeight": null, "floorOverWeight": 1.1498707305578062, "totalMassKg": 13.71957820281386, "wallSeconds": 0.2267123409999999, "realTimeFactor": 35.28700715943824, "worstStepMs": 27.035541999999992, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 1, "repeat": 2, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.16579956121460526, "lastSecondMeanEnergy": 0.0003920506068115718, "deepestOverlapMm": 6.768804043101061, "overlappingPairs": 86, "meanOverlapMm": 1.1450981553941793, "pileTopMm": 164.00989120539262, "meanCentreHeightMm": 42.618998679245124, "supportOverWeight": null, "floorOverWeight": 1.1941424876102147, "totalMassKg": 13.71957820281386, "wallSeconds": 0.1743795390000001, "realTimeFactor": 45.87694201898306, "worstStepMs": 24.574791000000005, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 1, "repeat": 2, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": 6.866666666666666, "lastSecondMaxSpeed": 0.0021191302130791263, "lastSecondMeanEnergy": 9.316186214587539e-09, "deepestOverlapMm": 5.444358487346923, "overlappingPairs": 90, "meanOverlapMm": 0.6110804513328806, "pileTopMm": 161.6584553428407, "meanCentreHeightMm": 47.78587413238711, "supportOverWeight": null, "floorOverWeight": 1.3520958986009946, "totalMassKg": 13.71957820281386, "wallSeconds": 0.6527844300000002, "realTimeFactor": 12.255194260684187, "worstStepMs": 24.000875000000008, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 1, "repeat": 2, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 2, "settledAt": -1, "lastSecondMaxSpeed": 0.690932538787306, "lastSecondMeanEnergy": 0.008678861517758643, "deepestOverlapMm": 13.947915119814034, "overlappingPairs": 102, "meanOverlapMm": 1.00137963809886, "pileTopMm": 114.56894417104691, "meanCentreHeightMm": 29.194238274590944, "supportOverWeight": 0.9878437353817644, "floorOverWeight": 1.0195632847552933, "totalMassKg": 13.719732791237082, "wallSeconds": 6.589947261999994, "realTimeFactor": 1.21397026136019, "worstStepMs": 24.075333000000086, "work": { "stepsPerSecond": 60, "solverIterations": 5157, "meanContacts": 232.81666666666666 } }, { "seed": 1, "repeat": 2, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.843158177907466, "lastSecondMeanEnergy": 0.0032591891659033718, "deepestOverlapMm": 3.739618498931549, "overlappingPairs": 101, "meanOverlapMm": 0.46302776284483593, "pileTopMm": 110.66920718267146, "meanCentreHeightMm": 35.499914136549506, "supportOverWeight": 0.9855815489198029, "floorOverWeight": 0.9875719801419746, "totalMassKg": 13.719732791237082, "wallSeconds": 11.791291124000027, "realTimeFactor": 0.6784668375897172, "worstStepMs": 20.25366700000042, "work": { "stepsPerSecond": 120, "solverIterations": 9619, "meanContacts": 224.228125 } }, { "seed": 1, "repeat": 2, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.03699628520566806, "lastSecondMeanEnergy": 1.4964067122475509e-05, "deepestOverlapMm": 0.24100780263469732, "overlappingPairs": 76, "meanOverlapMm": 0.045797709759177005, "pileTopMm": 141.71262243463306, "meanCentreHeightMm": 43.99199020914129, "supportOverWeight": 1.0037926262095005, "floorOverWeight": 0.9951840189284086, "totalMassKg": 13.719732791237082, "wallSeconds": 18.34847510499998, "realTimeFactor": 0.43600353458364455, "worstStepMs": 9.14779199999849, "work": { "stepsPerSecond": 480, "solverIterations": 32826, "meanContacts": 210.18515625 } }, { "seed": 1, "repeat": 2, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.2, "lastSecondMaxSpeed": 3.448319994e-06, "lastSecondMeanEnergy": 1.0520599440083334e-12, "deepestOverlapMm": 0.01068463647727546, "overlappingPairs": 1, "meanOverlapMm": 0.01068463647727546, "pileTopMm": 170.80074619696697, "meanCentreHeightMm": 52.67471642494832, "supportOverWeight": null, "floorOverWeight": 1.0325643801712665, "totalMassKg": 13.719582944036697, "wallSeconds": 0.336044, "realTimeFactor": 23.806406303936388, "worstStepMs": 5.869292, "work": { "stepsPerSecond": 60, "newtonIterations": 3239, "factorizations": 3234, "passes": 972 } }, { "seed": 1, "repeat": 2, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.1, "lastSecondMaxSpeed": 8.128543938e-06, "lastSecondMeanEnergy": 1.4624039627499998e-12, "deepestOverlapMm": 0.002215876779561743, "overlappingPairs": 0, "meanOverlapMm": 0, "pileTopMm": 153.64923240616287, "meanCentreHeightMm": 50.52396406976909, "supportOverWeight": null, "floorOverWeight": 1.0520810699000456, "totalMassKg": 13.719582944036697, "wallSeconds": 0.474027, "realTimeFactor": 16.876675801167444, "worstStepMs": 6.502625, "work": { "stepsPerSecond": 120, "newtonIterations": 5660, "factorizations": 5655, "passes": 1634 } }, { "seed": 1, "repeat": 3, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.16579956121460526, "lastSecondMeanEnergy": 0.0003920506068115718, "deepestOverlapMm": 6.768804043101061, "overlappingPairs": 86, "meanOverlapMm": 1.1450981553941793, "pileTopMm": 164.00989120539262, "meanCentreHeightMm": 42.618998679245124, "supportOverWeight": null, "floorOverWeight": 1.1941424876102147, "totalMassKg": 13.71957820281386, "wallSeconds": 0.1699300030000002, "realTimeFactor": 47.07820784302576, "worstStepMs": 24.02175000000001, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 1, "repeat": 3, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": 6.866666666666666, "lastSecondMaxSpeed": 0.0021191302130791263, "lastSecondMeanEnergy": 9.316186214587539e-09, "deepestOverlapMm": 5.444358487346923, "overlappingPairs": 90, "meanOverlapMm": 0.6110804513328806, "pileTopMm": 161.6584553428407, "meanCentreHeightMm": 47.78587413238711, "supportOverWeight": null, "floorOverWeight": 1.3520958986009946, "totalMassKg": 13.71957820281386, "wallSeconds": 0.6515837010000011, "realTimeFactor": 12.277777955038177, "worstStepMs": 24.258624999999995, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 1, "repeat": 3, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 2, "settledAt": -1, "lastSecondMaxSpeed": 0.690932538787306, "lastSecondMeanEnergy": 0.008678861517758643, "deepestOverlapMm": 13.947915119814034, "overlappingPairs": 102, "meanOverlapMm": 1.00137963809886, "pileTopMm": 114.56894417104691, "meanCentreHeightMm": 29.194238274590944, "supportOverWeight": 0.9878437353817644, "floorOverWeight": 1.0195632847552933, "totalMassKg": 13.719732791237082, "wallSeconds": 6.640435964999997, "realTimeFactor": 1.2047401770254107, "worstStepMs": 23.96666700000005, "work": { "stepsPerSecond": 60, "solverIterations": 5157, "meanContacts": 232.81666666666666 } }, { "seed": 1, "repeat": 3, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.843158177907466, "lastSecondMeanEnergy": 0.0032591891659033718, "deepestOverlapMm": 3.739618498931549, "overlappingPairs": 101, "meanOverlapMm": 0.46302776284483593, "pileTopMm": 110.66920718267146, "meanCentreHeightMm": 35.499914136549506, "supportOverWeight": 0.9855815489198029, "floorOverWeight": 0.9875719801419746, "totalMassKg": 13.719732791237082, "wallSeconds": 11.824690523, "realTimeFactor": 0.6765504758403055, "worstStepMs": 20.29533299999997, "work": { "stepsPerSecond": 120, "solverIterations": 9619, "meanContacts": 224.228125 } }, { "seed": 1, "repeat": 3, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.03699628520566806, "lastSecondMeanEnergy": 1.4964067122475509e-05, "deepestOverlapMm": 0.24100780263469732, "overlappingPairs": 76, "meanOverlapMm": 0.045797709759177005, "pileTopMm": 141.71262243463306, "meanCentreHeightMm": 43.99199020914129, "supportOverWeight": 1.0037926262095005, "floorOverWeight": 0.9951840189284086, "totalMassKg": 13.719732791237082, "wallSeconds": 18.302296730000002, "realTimeFactor": 0.43710361153127253, "worstStepMs": 8.746000000000143, "work": { "stepsPerSecond": 480, "solverIterations": 32826, "meanContacts": 210.18515625 } }, { "seed": 1, "repeat": 3, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.2, "lastSecondMaxSpeed": 3.448319994e-06, "lastSecondMeanEnergy": 1.0520599440083334e-12, "deepestOverlapMm": 0.01068463647727546, "overlappingPairs": 1, "meanOverlapMm": 0.01068463647727546, "pileTopMm": 170.80074619696697, "meanCentreHeightMm": 52.67471642494832, "supportOverWeight": null, "floorOverWeight": 1.0325643801712665, "totalMassKg": 13.719582944036697, "wallSeconds": 0.340277, "realTimeFactor": 23.510257819364814, "worstStepMs": 5.8695, "work": { "stepsPerSecond": 60, "newtonIterations": 3239, "factorizations": 3234, "passes": 972 } }, { "seed": 1, "repeat": 3, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.1, "lastSecondMaxSpeed": 8.128543938e-06, "lastSecondMeanEnergy": 1.4624039627499998e-12, "deepestOverlapMm": 0.002215876779561743, "overlappingPairs": 0, "meanOverlapMm": 0, "pileTopMm": 153.64923240616287, "meanCentreHeightMm": 50.52396406976909, "supportOverWeight": null, "floorOverWeight": 1.0520810699000456, "totalMassKg": 13.719582944036697, "wallSeconds": 0.472568, "realTimeFactor": 16.928780619931945, "worstStepMs": 6.460125, "work": { "stepsPerSecond": 120, "newtonIterations": 5660, "factorizations": 5655, "passes": 1634 } }, { "seed": 1, "repeat": 3, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 1.7166666666666666, "lastSecondMaxSpeed": 1.2836287139551208e-05, "lastSecondMeanEnergy": 1.5232924920262726e-12, "deepestOverlapMm": 6.974645597421587, "overlappingPairs": 76, "meanOverlapMm": 1.1080619373322458, "pileTopMm": 180.57479019220614, "meanCentreHeightMm": 50.103105018934, "supportOverWeight": null, "floorOverWeight": 1.1498707305578062, "totalMassKg": 13.71957820281386, "wallSeconds": 0.22514600500000023, "realTimeFactor": 35.53249812271815, "worstStepMs": 26.816874999999996, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 7, "repeat": 1, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.333333, "lastSecondMaxSpeed": 8.129347996e-06, "lastSecondMeanEnergy": 1.140468936251667e-12, "deepestOverlapMm": 0.0244382482635641, "overlappingPairs": 1, "meanOverlapMm": 0.0244382482635641, "pileTopMm": 183.2366753512801, "meanCentreHeightMm": 51.662853958663035, "supportOverWeight": null, "floorOverWeight": 1.0625492376122647, "totalMassKg": 13.998172737920488, "wallSeconds": 0.476536, "realTimeFactor": 16.78781875870868, "worstStepMs": 4.538375, "work": { "stepsPerSecond": 120, "newtonIterations": 5591, "factorizations": 5588, "passes": 1718 } }, { "seed": 7, "repeat": 1, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 2.216666666666667, "lastSecondMaxSpeed": 7.10086422268196e-06, "lastSecondMeanEnergy": 1.6369013803563267e-12, "deepestOverlapMm": 6.08773331224504, "overlappingPairs": 81, "meanOverlapMm": 1.1100602439923721, "pileTopMm": 146.13914945482708, "meanCentreHeightMm": 46.01086809998378, "supportOverWeight": null, "floorOverWeight": 1.1587356150782808, "totalMassKg": 13.997977577149866, "wallSeconds": 0.23746310800000034, "realTimeFactor": 33.68944366718214, "worstStepMs": 27.489291999999992, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 7, "repeat": 1, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.17671488504399857, "lastSecondMeanEnergy": 0.00022365272361697563, "deepestOverlapMm": 7.268883687247144, "overlappingPairs": 103, "meanOverlapMm": 0.8576021982621971, "pileTopMm": 132.05379697264806, "meanCentreHeightMm": 41.337689333886374, "supportOverWeight": null, "floorOverWeight": 1.191706029159744, "totalMassKg": 13.997977577149866, "wallSeconds": 0.18067307899999974, "realTimeFactor": 44.27887123128074, "worstStepMs": 24.632000000000005, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 7, "repeat": 1, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.285023891887919, "lastSecondMeanEnergy": 4.291805351340113e-05, "deepestOverlapMm": 6.329829375402955, "overlappingPairs": 86, "meanOverlapMm": 0.7468750431578131, "pileTopMm": 141.19469070329035, "meanCentreHeightMm": 45.23874822916696, "supportOverWeight": null, "floorOverWeight": 1.2202037578579013, "totalMassKg": 13.997977577149866, "wallSeconds": 0.6532946119999992, "realTimeFactor": 12.24562372481347, "worstStepMs": 24.61775, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 7, "repeat": 1, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.47796382904933987, "lastSecondMeanEnergy": 0.0040701417800074885, "deepestOverlapMm": 10.147590526760485, "overlappingPairs": 110, "meanOverlapMm": 0.9369472329989313, "pileTopMm": 112.05604916116162, "meanCentreHeightMm": 33.628795237006656, "supportOverWeight": 1.002047172990932, "floorOverWeight": 1.0493699148383198, "totalMassKg": 13.998261093467598, "wallSeconds": 6.297232825000003, "realTimeFactor": 1.270399272556672, "worstStepMs": 20.147750000000464, "work": { "stepsPerSecond": 60, "solverIterations": 5107, "meanContacts": 227.94375 } }, { "seed": 7, "repeat": 1, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.1450967054239157, "lastSecondMeanEnergy": 0.0005851830565091274, "deepestOverlapMm": 1.3575018881277765, "overlappingPairs": 115, "meanOverlapMm": 0.3495539959021531, "pileTopMm": 112.51039714902936, "meanCentreHeightMm": 35.24196860987853, "supportOverWeight": 0.9803705000962182, "floorOverWeight": 0.9627134077163727, "totalMassKg": 13.998261093467598, "wallSeconds": 8.365046814999989, "realTimeFactor": 0.9563604576192692, "worstStepMs": 18.763834000000035, "work": { "stepsPerSecond": 120, "solverIterations": 8768, "meanContacts": 230.365625 } }, { "seed": 7, "repeat": 1, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.044560371007676854, "lastSecondMeanEnergy": 1.1256308192881755e-05, "deepestOverlapMm": 0.13653637488745923, "overlappingPairs": 63, "meanOverlapMm": 0.04144582351087648, "pileTopMm": 137.5088275980216, "meanCentreHeightMm": 41.88044049702748, "supportOverWeight": 1.008312343771721, "floorOverWeight": 1.0023256405505792, "totalMassKg": 13.998261093467598, "wallSeconds": 16.393125447999974, "realTimeFactor": 0.4880094418466145, "worstStepMs": 8.710207999998332, "work": { "stepsPerSecond": 480, "solverIterations": 30545, "meanContacts": 207.39921875 } }, { "seed": 7, "repeat": 1, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.333333, "lastSecondMaxSpeed": 3.735268018e-06, "lastSecondMeanEnergy": 6.805414216333334e-13, "deepestOverlapMm": 0.0006511634501257802, "overlappingPairs": 0, "meanOverlapMm": 0, "pileTopMm": 184.848570458242, "meanCentreHeightMm": 56.826484228094316, "supportOverWeight": null, "floorOverWeight": 1.0995312040827614, "totalMassKg": 13.998172737920488, "wallSeconds": 0.326927, "realTimeFactor": 24.470294591759014, "worstStepMs": 7.092125, "work": { "stepsPerSecond": 60, "newtonIterations": 3194, "factorizations": 3191, "passes": 923 } }, { "seed": 7, "repeat": 2, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 2.216666666666667, "lastSecondMaxSpeed": 7.10086422268196e-06, "lastSecondMeanEnergy": 1.6369013803563267e-12, "deepestOverlapMm": 6.08773331224504, "overlappingPairs": 81, "meanOverlapMm": 1.1100602439923721, "pileTopMm": 146.13914945482708, "meanCentreHeightMm": 46.01086809998378, "supportOverWeight": null, "floorOverWeight": 1.1587356150782808, "totalMassKg": 13.997977577149866, "wallSeconds": 0.23830149799999936, "realTimeFactor": 33.5709177959092, "worstStepMs": 27.715542000000013, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 7, "repeat": 2, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.17671488504399857, "lastSecondMeanEnergy": 0.00022365272361697563, "deepestOverlapMm": 7.268883687247144, "overlappingPairs": 103, "meanOverlapMm": 0.8576021982621971, "pileTopMm": 132.05379697264806, "meanCentreHeightMm": 41.337689333886374, "supportOverWeight": null, "floorOverWeight": 1.191706029159744, "totalMassKg": 13.997977577149866, "wallSeconds": 0.18067999399999995, "realTimeFactor": 44.27717658657882, "worstStepMs": 24.691084000000004, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 7, "repeat": 2, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.285023891887919, "lastSecondMeanEnergy": 4.291805351340113e-05, "deepestOverlapMm": 6.329829375402955, "overlappingPairs": 86, "meanOverlapMm": 0.7468750431578131, "pileTopMm": 141.19469070329035, "meanCentreHeightMm": 45.23874822916696, "supportOverWeight": null, "floorOverWeight": 1.2202037578579013, "totalMassKg": 13.997977577149866, "wallSeconds": 0.649149571999999, "realTimeFactor": 12.323816182074001, "worstStepMs": 24.344082999999998, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 7, "repeat": 2, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.47796382904933987, "lastSecondMeanEnergy": 0.0040701417800074885, "deepestOverlapMm": 10.147590526760485, "overlappingPairs": 110, "meanOverlapMm": 0.9369472329989313, "pileTopMm": 112.05604916116162, "meanCentreHeightMm": 33.628795237006656, "supportOverWeight": 1.002047172990932, "floorOverWeight": 1.0493699148383198, "totalMassKg": 13.998261093467598, "wallSeconds": 6.290941098000001, "realTimeFactor": 1.2716698305351068, "worstStepMs": 20.598958, "work": { "stepsPerSecond": 60, "solverIterations": 5107, "meanContacts": 227.94375 } }, { "seed": 7, "repeat": 2, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.1450967054239157, "lastSecondMeanEnergy": 0.0005851830565091274, "deepestOverlapMm": 1.3575018881277765, "overlappingPairs": 115, "meanOverlapMm": 0.3495539959021531, "pileTopMm": 112.51039714902936, "meanCentreHeightMm": 35.24196860987853, "supportOverWeight": 0.9803705000962182, "floorOverWeight": 0.9627134077163727, "totalMassKg": 13.998261093467598, "wallSeconds": 8.370006889, "realTimeFactor": 0.9557937175074169, "worstStepMs": 18.662125000000085, "work": { "stepsPerSecond": 120, "solverIterations": 8768, "meanContacts": 230.365625 } }, { "seed": 7, "repeat": 2, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.044560371007676854, "lastSecondMeanEnergy": 1.1256308192881755e-05, "deepestOverlapMm": 0.13653637488745923, "overlappingPairs": 63, "meanOverlapMm": 0.04144582351087648, "pileTopMm": 137.5088275980216, "meanCentreHeightMm": 41.88044049702748, "supportOverWeight": 1.008312343771721, "floorOverWeight": 1.0023256405505792, "totalMassKg": 13.998261093467598, "wallSeconds": 16.53213251899995, "realTimeFactor": 0.4839061137942009, "worstStepMs": 8.694000000000202, "work": { "stepsPerSecond": 480, "solverIterations": 30545, "meanContacts": 207.39921875 } }, { "seed": 7, "repeat": 2, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.333333, "lastSecondMaxSpeed": 3.735268018e-06, "lastSecondMeanEnergy": 6.805414216333334e-13, "deepestOverlapMm": 0.0006511634501257802, "overlappingPairs": 0, "meanOverlapMm": 0, "pileTopMm": 184.848570458242, "meanCentreHeightMm": 56.826484228094316, "supportOverWeight": null, "floorOverWeight": 1.0995312040827614, "totalMassKg": 13.998172737920488, "wallSeconds": 0.328108, "realTimeFactor": 24.382215611932654, "worstStepMs": 7.0545, "work": { "stepsPerSecond": 60, "newtonIterations": 3194, "factorizations": 3191, "passes": 923 } }, { "seed": 7, "repeat": 2, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.333333, "lastSecondMaxSpeed": 8.129347996e-06, "lastSecondMeanEnergy": 1.140468936251667e-12, "deepestOverlapMm": 0.0244382482635641, "overlappingPairs": 1, "meanOverlapMm": 0.0244382482635641, "pileTopMm": 183.2366753512801, "meanCentreHeightMm": 51.662853958663035, "supportOverWeight": null, "floorOverWeight": 1.0625492376122647, "totalMassKg": 13.998172737920488, "wallSeconds": 0.481538, "realTimeFactor": 16.613434453771042, "worstStepMs": 4.597542, "work": { "stepsPerSecond": 120, "newtonIterations": 5591, "factorizations": 5588, "passes": 1718 } }, { "seed": 7, "repeat": 3, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.17671488504399857, "lastSecondMeanEnergy": 0.00022365272361697563, "deepestOverlapMm": 7.268883687247144, "overlappingPairs": 103, "meanOverlapMm": 0.8576021982621971, "pileTopMm": 132.05379697264806, "meanCentreHeightMm": 41.337689333886374, "supportOverWeight": null, "floorOverWeight": 1.191706029159744, "totalMassKg": 13.997977577149866, "wallSeconds": 0.18210388099999994, "realTimeFactor": 43.93096926912833, "worstStepMs": 24.955291999999986, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 7, "repeat": 3, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.285023891887919, "lastSecondMeanEnergy": 4.291805351340113e-05, "deepestOverlapMm": 6.329829375402955, "overlappingPairs": 86, "meanOverlapMm": 0.7468750431578131, "pileTopMm": 141.19469070329035, "meanCentreHeightMm": 45.23874822916696, "supportOverWeight": null, "floorOverWeight": 1.2202037578579013, "totalMassKg": 13.997977577149866, "wallSeconds": 0.6512020310000003, "realTimeFactor": 12.284973969929151, "worstStepMs": 24.667500000000004, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 7, "repeat": 3, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.47796382904933987, "lastSecondMeanEnergy": 0.0040701417800074885, "deepestOverlapMm": 10.147590526760485, "overlappingPairs": 110, "meanOverlapMm": 0.9369472329989313, "pileTopMm": 112.05604916116162, "meanCentreHeightMm": 33.628795237006656, "supportOverWeight": 1.002047172990932, "floorOverWeight": 1.0493699148383198, "totalMassKg": 13.998261093467598, "wallSeconds": 6.278657751000004, "realTimeFactor": 1.2741576810307644, "worstStepMs": 20.530917000000095, "work": { "stepsPerSecond": 60, "solverIterations": 5107, "meanContacts": 227.94375 } }, { "seed": 7, "repeat": 3, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.1450967054239157, "lastSecondMeanEnergy": 0.0005851830565091274, "deepestOverlapMm": 1.3575018881277765, "overlappingPairs": 115, "meanOverlapMm": 0.3495539959021531, "pileTopMm": 112.51039714902936, "meanCentreHeightMm": 35.24196860987853, "supportOverWeight": 0.9803705000962182, "floorOverWeight": 0.9627134077163727, "totalMassKg": 13.998261093467598, "wallSeconds": 8.369073120999992, "realTimeFactor": 0.9559003588971041, "worstStepMs": 19.146583000000383, "work": { "stepsPerSecond": 120, "solverIterations": 8768, "meanContacts": 230.365625 } }, { "seed": 7, "repeat": 3, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.044560371007676854, "lastSecondMeanEnergy": 1.1256308192881755e-05, "deepestOverlapMm": 0.13653637488745923, "overlappingPairs": 63, "meanOverlapMm": 0.04144582351087648, "pileTopMm": 137.5088275980216, "meanCentreHeightMm": 41.88044049702748, "supportOverWeight": 1.008312343771721, "floorOverWeight": 1.0023256405505792, "totalMassKg": 13.998261093467598, "wallSeconds": 16.400006902000065, "realTimeFactor": 0.4878046727543974, "worstStepMs": 8.567959000000513, "work": { "stepsPerSecond": 480, "solverIterations": 30545, "meanContacts": 207.39921875 } }, { "seed": 7, "repeat": 3, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.333333, "lastSecondMaxSpeed": 3.735268018e-06, "lastSecondMeanEnergy": 6.805414216333334e-13, "deepestOverlapMm": 0.0006511634501257802, "overlappingPairs": 0, "meanOverlapMm": 0, "pileTopMm": 184.848570458242, "meanCentreHeightMm": 56.826484228094316, "supportOverWeight": null, "floorOverWeight": 1.0995312040827614, "totalMassKg": 13.998172737920488, "wallSeconds": 0.331214, "realTimeFactor": 24.153568387809692, "worstStepMs": 7.285292, "work": { "stepsPerSecond": 60, "newtonIterations": 3194, "factorizations": 3191, "passes": 923 } }, { "seed": 7, "repeat": 3, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.333333, "lastSecondMaxSpeed": 8.129347996e-06, "lastSecondMeanEnergy": 1.140468936251667e-12, "deepestOverlapMm": 0.0244382482635641, "overlappingPairs": 1, "meanOverlapMm": 0.0244382482635641, "pileTopMm": 183.2366753512801, "meanCentreHeightMm": 51.662853958663035, "supportOverWeight": null, "floorOverWeight": 1.0625492376122647, "totalMassKg": 13.998172737920488, "wallSeconds": 0.481208, "realTimeFactor": 16.624827517414506, "worstStepMs": 4.577708, "work": { "stepsPerSecond": 120, "newtonIterations": 5591, "factorizations": 5588, "passes": 1718 } }, { "seed": 7, "repeat": 3, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 2.216666666666667, "lastSecondMaxSpeed": 7.10086422268196e-06, "lastSecondMeanEnergy": 1.6369013803563267e-12, "deepestOverlapMm": 6.08773331224504, "overlappingPairs": 81, "meanOverlapMm": 1.1100602439923721, "pileTopMm": 146.13914945482708, "meanCentreHeightMm": 46.01086809998378, "supportOverWeight": null, "floorOverWeight": 1.1587356150782808, "totalMassKg": 13.997977577149866, "wallSeconds": 0.23408558899999993, "realTimeFactor": 34.17553397531021, "worstStepMs": 27.791749999999993, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 19, "repeat": 1, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.166667, "lastSecondMaxSpeed": 9.980335547e-06, "lastSecondMeanEnergy": 1.569354513616667e-12, "deepestOverlapMm": 0.013588642155809572, "overlappingPairs": 2, "meanOverlapMm": 0.012291394168896519, "pileTopMm": 139.91812192101762, "meanCentreHeightMm": 46.56102467202463, "supportOverWeight": null, "floorOverWeight": 1.0634114402232615, "totalMassKg": 13.712166414067278, "wallSeconds": 0.495583, "realTimeFactor": 16.14260376163024, "worstStepMs": 4.923834, "work": { "stepsPerSecond": 120, "newtonIterations": 5519, "factorizations": 5516, "passes": 1718 } }, { "seed": 19, "repeat": 1, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 2.1166666666666667, "lastSecondMaxSpeed": 2.925912626181382e-06, "lastSecondMeanEnergy": 2.037631980689125e-12, "deepestOverlapMm": 6.88960622743502, "overlappingPairs": 74, "meanOverlapMm": 1.1150731085411716, "pileTopMm": 167.13923120019794, "meanCentreHeightMm": 49.366343875590246, "supportOverWeight": null, "floorOverWeight": 1.2245672724711594, "totalMassKg": 13.712028354406353, "wallSeconds": 0.224137915, "realTimeFactor": 35.69231024568066, "worstStepMs": 27.217249999999993, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 19, "repeat": 1, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.23646512731477481, "lastSecondMeanEnergy": 0.00012816691965571934, "deepestOverlapMm": 9.79398353069434, "overlappingPairs": 102, "meanOverlapMm": 0.9429871615257198, "pileTopMm": 126.79900013379375, "meanCentreHeightMm": 41.53220580337802, "supportOverWeight": null, "floorOverWeight": 1.209629792089843, "totalMassKg": 13.712028354406353, "wallSeconds": 0.18143446600000054, "realTimeFactor": 44.093055616014965, "worstStepMs": 25.315375000000003, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 19, "repeat": 1, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": 2.55, "lastSecondMaxSpeed": 0.00015509755581366943, "lastSecondMeanEnergy": 2.997181496419146e-10, "deepestOverlapMm": 4.618353898302613, "overlappingPairs": 89, "meanOverlapMm": 0.7255778934218263, "pileTopMm": 131.92066055964517, "meanCentreHeightMm": 44.076541726099094, "supportOverWeight": null, "floorOverWeight": 1.0741730423361104, "totalMassKg": 13.712028354406353, "wallSeconds": 0.6611056150000005, "realTimeFactor": 12.100940936645944, "worstStepMs": 24.395791000000003, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 19, "repeat": 1, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 3, "settledAt": -1, "lastSecondMaxSpeed": 2.618071603626644, "lastSecondMeanEnergy": 0.00642206391170909, "deepestOverlapMm": 30.636572564552132, "overlappingPairs": 101, "meanOverlapMm": 0.6587722101242155, "pileTopMm": 109.38221348631436, "meanCentreHeightMm": 31.95455833935249, "supportOverWeight": 0.9896285519338057, "floorOverWeight": 1.5301129336580672, "totalMassKg": 13.712342087797504, "wallSeconds": 5.534243330999997, "realTimeFactor": 1.4455454018778136, "worstStepMs": 18.46545899999996, "work": { "stepsPerSecond": 60, "solverIterations": 4741, "meanContacts": 240.24791666666667 } }, { "seed": 19, "repeat": 1, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.41987817038872716, "lastSecondMeanEnergy": 0.0024403818304805187, "deepestOverlapMm": 6.064287621456, "overlappingPairs": 105, "meanOverlapMm": 0.49284865248726084, "pileTopMm": 116.77970532465027, "meanCentreHeightMm": 34.82030653835512, "supportOverWeight": 1.0068483118859857, "floorOverWeight": 1.1872192221938689, "totalMassKg": 13.712342087797504, "wallSeconds": 10.064832064000008, "realTimeFactor": 0.7948468438548995, "worstStepMs": 20.907499999999857, "work": { "stepsPerSecond": 120, "solverIterations": 9681, "meanContacts": 226.05625 } }, { "seed": 19, "repeat": 1, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.022490762338561555, "lastSecondMeanEnergy": 1.629275284090349e-05, "deepestOverlapMm": 0.1571252213370452, "overlappingPairs": 72, "meanOverlapMm": 0.03368764912664768, "pileTopMm": 125.52893407822785, "meanCentreHeightMm": 38.66417624616741, "supportOverWeight": 1.0040262056555116, "floorOverWeight": 1.0043068897587746, "totalMassKg": 13.712342087797504, "wallSeconds": 12.583861476000044, "realTimeFactor": 0.6357349065910818, "worstStepMs": 6.199291999999801, "work": { "stepsPerSecond": 480, "solverIterations": 28164, "meanContacts": 215.10859375 } }, { "seed": 19, "repeat": 1, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.366667, "lastSecondMaxSpeed": 4.179037317e-06, "lastSecondMeanEnergy": 9.80176704616667e-13, "deepestOverlapMm": 0.013588528933948862, "overlappingPairs": 1, "meanOverlapMm": 0.013588528933948862, "pileTopMm": 204.89593533461732, "meanCentreHeightMm": 50.39125607249973, "supportOverWeight": null, "floorOverWeight": 0.9964828158574801, "totalMassKg": 13.712166414067278, "wallSeconds": 0.370619, "realTimeFactor": 21.58550964737372, "worstStepMs": 8.889791, "work": { "stepsPerSecond": 60, "newtonIterations": 3253, "factorizations": 3250, "passes": 909 } }, { "seed": 19, "repeat": 2, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 2.1166666666666667, "lastSecondMaxSpeed": 2.925912626181382e-06, "lastSecondMeanEnergy": 2.037631980689125e-12, "deepestOverlapMm": 6.88960622743502, "overlappingPairs": 74, "meanOverlapMm": 1.1150731085411716, "pileTopMm": 167.13923120019794, "meanCentreHeightMm": 49.366343875590246, "supportOverWeight": null, "floorOverWeight": 1.2245672724711594, "totalMassKg": 13.712028354406353, "wallSeconds": 0.22666999999999984, "realTimeFactor": 35.29359862354968, "worstStepMs": 27.465167000000008, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 19, "repeat": 2, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.23646512731477481, "lastSecondMeanEnergy": 0.00012816691965571934, "deepestOverlapMm": 9.79398353069434, "overlappingPairs": 102, "meanOverlapMm": 0.9429871615257198, "pileTopMm": 126.79900013379375, "meanCentreHeightMm": 41.53220580337802, "supportOverWeight": null, "floorOverWeight": 1.209629792089843, "totalMassKg": 13.712028354406353, "wallSeconds": 0.17889967099999998, "realTimeFactor": 44.71780163307288, "worstStepMs": 25.005290999999986, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 19, "repeat": 2, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": 2.55, "lastSecondMaxSpeed": 0.00015509755581366943, "lastSecondMeanEnergy": 2.997181496419146e-10, "deepestOverlapMm": 4.618353898302613, "overlappingPairs": 89, "meanOverlapMm": 0.7255778934218263, "pileTopMm": 131.92066055964517, "meanCentreHeightMm": 44.076541726099094, "supportOverWeight": null, "floorOverWeight": 1.0741730423361104, "totalMassKg": 13.712028354406353, "wallSeconds": 0.664237277000001, "realTimeFactor": 12.043888949038896, "worstStepMs": 24.778458, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 19, "repeat": 2, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 3, "settledAt": -1, "lastSecondMaxSpeed": 2.618071603626644, "lastSecondMeanEnergy": 0.00642206391170909, "deepestOverlapMm": 30.636572564552132, "overlappingPairs": 101, "meanOverlapMm": 0.6587722101242155, "pileTopMm": 109.38221348631436, "meanCentreHeightMm": 31.95455833935249, "supportOverWeight": 0.9896285519338057, "floorOverWeight": 1.5301129336580672, "totalMassKg": 13.712342087797504, "wallSeconds": 5.529220634000002, "realTimeFactor": 1.4468585230270623, "worstStepMs": 18.117166999999768, "work": { "stepsPerSecond": 60, "solverIterations": 4741, "meanContacts": 240.24791666666667 } }, { "seed": 19, "repeat": 2, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.41987817038872716, "lastSecondMeanEnergy": 0.0024403818304805187, "deepestOverlapMm": 6.064287621456, "overlappingPairs": 105, "meanOverlapMm": 0.49284865248726084, "pileTopMm": 116.77970532465027, "meanCentreHeightMm": 34.82030653835512, "supportOverWeight": 1.0068483118859857, "floorOverWeight": 1.1872192221938689, "totalMassKg": 13.712342087797504, "wallSeconds": 10.082884091000004, "realTimeFactor": 0.7934237791289113, "worstStepMs": 20.938042000000046, "work": { "stepsPerSecond": 120, "solverIterations": 9681, "meanContacts": 226.05625 } }, { "seed": 19, "repeat": 2, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.022490762338561555, "lastSecondMeanEnergy": 1.629275284090349e-05, "deepestOverlapMm": 0.1571252213370452, "overlappingPairs": 72, "meanOverlapMm": 0.03368764912664768, "pileTopMm": 125.52893407822785, "meanCentreHeightMm": 38.66417624616741, "supportOverWeight": 1.0040262056555116, "floorOverWeight": 1.0043068897587746, "totalMassKg": 13.712342087797504, "wallSeconds": 12.602545568000023, "realTimeFactor": 0.6347923883182253, "worstStepMs": 6.208083000000197, "work": { "stepsPerSecond": 480, "solverIterations": 28164, "meanContacts": 215.10859375 } }, { "seed": 19, "repeat": 2, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.366667, "lastSecondMaxSpeed": 4.179037317e-06, "lastSecondMeanEnergy": 9.80176704616667e-13, "deepestOverlapMm": 0.013588528933948862, "overlappingPairs": 1, "meanOverlapMm": 0.013588528933948862, "pileTopMm": 204.89593533461732, "meanCentreHeightMm": 50.39125607249973, "supportOverWeight": null, "floorOverWeight": 0.9964828158574801, "totalMassKg": 13.712166414067278, "wallSeconds": 0.370049, "realTimeFactor": 21.61875859683447, "worstStepMs": 8.81625, "work": { "stepsPerSecond": 60, "newtonIterations": 3253, "factorizations": 3250, "passes": 909 } }, { "seed": 19, "repeat": 2, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.166667, "lastSecondMaxSpeed": 9.980335547e-06, "lastSecondMeanEnergy": 1.569354513616667e-12, "deepestOverlapMm": 0.013588642155809572, "overlappingPairs": 2, "meanOverlapMm": 0.012291394168896519, "pileTopMm": 139.91812192101762, "meanCentreHeightMm": 46.56102467202463, "supportOverWeight": null, "floorOverWeight": 1.0634114402232615, "totalMassKg": 13.712166414067278, "wallSeconds": 0.495822, "realTimeFactor": 16.134822577457232, "worstStepMs": 4.844458, "work": { "stepsPerSecond": 120, "newtonIterations": 5519, "factorizations": 5516, "passes": 1718 } }, { "seed": 19, "repeat": 3, "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.23646512731477481, "lastSecondMeanEnergy": 0.00012816691965571934, "deepestOverlapMm": 9.79398353069434, "overlappingPairs": 102, "meanOverlapMm": 0.9429871615257198, "pileTopMm": 126.79900013379375, "meanCentreHeightMm": 41.53220580337802, "supportOverWeight": null, "floorOverWeight": 1.209629792089843, "totalMassKg": 13.712028354406353, "wallSeconds": 0.18561481099999974, "realTimeFactor": 43.10000886728813, "worstStepMs": 25.403042, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } }, { "seed": 19, "repeat": 3, "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "finite": true, "escaped": 0, "settledAt": 2.55, "lastSecondMaxSpeed": 0.00015509755581366943, "lastSecondMeanEnergy": 2.997181496419146e-10, "deepestOverlapMm": 4.618353898302613, "overlappingPairs": 89, "meanOverlapMm": 0.7255778934218263, "pileTopMm": 131.92066055964517, "meanCentreHeightMm": 44.076541726099094, "supportOverWeight": null, "floorOverWeight": 1.0741730423361104, "totalMassKg": 13.712028354406353, "wallSeconds": 0.664926852000002, "realTimeFactor": 12.03139860563185, "worstStepMs": 24.594666000000004, "work": { "stepsPerSecond": 240, "solverIterations": 15360 } }, { "seed": 19, "repeat": 3, "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "finite": true, "escaped": 3, "settledAt": -1, "lastSecondMaxSpeed": 2.618071603626644, "lastSecondMeanEnergy": 0.00642206391170909, "deepestOverlapMm": 30.636572564552132, "overlappingPairs": 101, "meanOverlapMm": 0.6587722101242155, "pileTopMm": 109.38221348631436, "meanCentreHeightMm": 31.95455833935249, "supportOverWeight": 0.9896285519338057, "floorOverWeight": 1.5301129336580672, "totalMassKg": 13.712342087797504, "wallSeconds": 5.537641966000004, "realTimeFactor": 1.4446582226005895, "worstStepMs": 20.653207999999978, "work": { "stepsPerSecond": 60, "solverIterations": 4741, "meanContacts": 240.24791666666667 } }, { "seed": 19, "repeat": 3, "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.41987817038872716, "lastSecondMeanEnergy": 0.0024403818304805187, "deepestOverlapMm": 6.064287621456, "overlappingPairs": 105, "meanOverlapMm": 0.49284865248726084, "pileTopMm": 116.77970532465027, "meanCentreHeightMm": 34.82030653835512, "supportOverWeight": 1.0068483118859857, "floorOverWeight": 1.1872192221938689, "totalMassKg": 13.712342087797504, "wallSeconds": 10.075272507, "realTimeFactor": 0.7940231883993052, "worstStepMs": 21.033791999999885, "work": { "stepsPerSecond": 120, "solverIterations": 9681, "meanContacts": 226.05625 } }, { "seed": 19, "repeat": 3, "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "finite": true, "escaped": 0, "settledAt": -1, "lastSecondMaxSpeed": 0.022490762338561555, "lastSecondMeanEnergy": 1.629275284090349e-05, "deepestOverlapMm": 0.1571252213370452, "overlappingPairs": 72, "meanOverlapMm": 0.03368764912664768, "pileTopMm": 125.52893407822785, "meanCentreHeightMm": 38.66417624616741, "supportOverWeight": 1.0040262056555116, "floorOverWeight": 1.0043068897587746, "totalMassKg": 13.712342087797504, "wallSeconds": 12.594974709000017, "realTimeFactor": 0.6351739630158546, "worstStepMs": 6.2746670000000115, "work": { "stepsPerSecond": 480, "solverIterations": 28164, "meanContacts": 215.10859375 } }, { "seed": 19, "repeat": 3, "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "finite": true, "escaped": 0, "settledAt": 1.366667, "lastSecondMaxSpeed": 4.179037317e-06, "lastSecondMeanEnergy": 9.80176704616667e-13, "deepestOverlapMm": 0.013588528933948862, "overlappingPairs": 1, "meanOverlapMm": 0.013588528933948862, "pileTopMm": 204.89593533461732, "meanCentreHeightMm": 50.39125607249973, "supportOverWeight": null, "floorOverWeight": 0.9964828158574801, "totalMassKg": 13.712166414067278, "wallSeconds": 0.374032, "realTimeFactor": 21.38854429567524, "worstStepMs": 8.836916, "work": { "stepsPerSecond": 60, "newtonIterations": 3253, "factorizations": 3250, "passes": 909 } }, { "seed": 19, "repeat": 3, "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "finite": true, "escaped": 0, "settledAt": 1.166667, "lastSecondMaxSpeed": 9.980335547e-06, "lastSecondMeanEnergy": 1.569354513616667e-12, "deepestOverlapMm": 0.013588642155809572, "overlappingPairs": 2, "meanOverlapMm": 0.012291394168896519, "pileTopMm": 139.91812192101762, "meanCentreHeightMm": 46.56102467202463, "supportOverWeight": null, "floorOverWeight": 1.0634114402232615, "totalMassKg": 13.712166414067278, "wallSeconds": 0.495979, "realTimeFactor": 16.129715169392252, "worstStepMs": 4.787, "work": { "stepsPerSecond": 120, "newtonIterations": 5519, "factorizations": 5516, "passes": 1718 } }, { "seed": 19, "repeat": 3, "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "finite": true, "escaped": 0, "settledAt": 2.1166666666666667, "lastSecondMaxSpeed": 2.925912626181382e-06, "lastSecondMeanEnergy": 2.037631980689125e-12, "deepestOverlapMm": 6.88960622743502, "overlappingPairs": 74, "meanOverlapMm": 1.1150731085411716, "pileTopMm": 167.13923120019794, "meanCentreHeightMm": 49.366343875590246, "supportOverWeight": null, "floorOverWeight": 1.2245672724711594, "totalMassKg": 13.712028354406353, "wallSeconds": 0.22582829100000054, "realTimeFactor": 35.425145204681115, "worstStepMs": 27.54849999999999, "work": { "stepsPerSecond": 60, "solverIterations": 1920 } } ], "summary": [ { "label": "wrench60", "engine": "wrench_transport_cpp", "config": "wrench@60Hz", "medianWallSeconds": 0.336044, "meanWallSeconds": 0.3458518888888889, "maxOverlapMm": 0.013588528933948862, "medianOverlapMm": 0.01068463647727546, "settledSeeds": 3, "maxLateSpeed": 4.179037317e-06, "escaped": 0 }, { "label": "wrench120", "engine": "wrench_transport_cpp", "config": "wrench@120Hz", "medianWallSeconds": 0.481208, "meanWallSeconds": 0.48094555555555557, "maxOverlapMm": 0.0244382482635641, "medianOverlapMm": 0.013588642155809572, "settledSeeds": 3, "maxLateSpeed": 9.980335547e-06, "escaped": 0 }, { "label": "rapier60", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 1 m", "medianWallSeconds": 0.22666999999999984, "meanWallSeconds": 0.22838042999999997, "maxOverlapMm": 6.974645597421587, "medianOverlapMm": 6.88960622743502, "settledSeeds": 3, "maxLateSpeed": 1.2836287139551208e-05, "escaped": 0 }, { "label": "rapier60scaled", "engine": "rapier 0.21.0", "config": "4 solver iterations, 60 Hz, length unit 0.05 m", "medianWallSeconds": 0.18067307899999974, "meanWallSeconds": 0.1781201196666667, "maxOverlapMm": 9.79398353069434, "medianOverlapMm": 7.268883687247144, "settledSeeds": 0, "maxLateSpeed": 0.23646512731477481, "escaped": 0 }, { "label": "rapier240scaled", "engine": "rapier 0.21.0", "config": "8 solver iterations, 240 Hz, length unit 0.05 m", "medianWallSeconds": 0.6527844300000002, "meanWallSeconds": 0.6539374690000003, "maxOverlapMm": 6.329829375402955, "medianOverlapMm": 5.444358487346923, "settledSeeds": 2, "maxLateSpeed": 0.285023891887919, "escaped": 0 }, { "label": "mujoco60", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 60 Hz, multiccd", "medianWallSeconds": 6.290941098000001, "meanWallSeconds": 6.137059819, "maxOverlapMm": 30.636572564552132, "medianOverlapMm": 13.947915119814034, "settledSeeds": 0, "maxLateSpeed": 2.618071603626644, "escaped": 3 }, { "label": "mujoco120", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 120 Hz, multiccd", "medianWallSeconds": 10.075272507, "meanWallSeconds": 10.069688017444445, "maxOverlapMm": 6.064287621456, "medianOverlapMm": 3.739618498931549, "settledSeeds": 0, "maxLateSpeed": 0.843158177907466, "escaped": 0 }, { "label": "mujoco480stiff", "engine": "mujoco 3.2.3", "config": "newton, elliptic cone, 480 Hz, multiccd, solref 0.005 s", "medianWallSeconds": 16.400006902000065, "meanWallSeconds": 15.763576917000005, "maxOverlapMm": 0.24100780263469732, "medianOverlapMm": 0.1571252213370452, "settledSeeds": 0, "maxLateSpeed": 0.044560371007676854, "escaped": 0 } ] }