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Revert #387 and #395 #402

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Revert #387 and #395 #402

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flferretti
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@flferretti flferretti commented Apr 8, 2025 •
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This pull request reverts #387 and #395 temporarily in order to debug a slowdown in both the compilation and runtime that we have encountered.

Summary of the reverted changes:

Changes to examples/jaxsim_as_physics_engine_advanced.ipynb:

  • Removed the environment variable setting for MUJOCO_GL and adjusted the batch size and base position bounds in the simulation setup. [1] [2]
  • Simplified the plotting of the height trajectory by limiting the data to the first five elements.
  • Updated the kernel specification and Python version metadata. [1] [2]

Changes to src/jaxsim/api/common.py:

  • Added input validation and used matrix multiplication instead of einsum for better readability and efficiency in the inertial_to_other_representation and other_representation_to_inertial functions. [1] [2] [3]

Changes to src/jaxsim/api/data.py:

  • Removed the contact_state attribute from JaxSimModelData and updated the build and replace methods to handle contact state differently. [1] [2] [3] [4]
  • Simplified quaternion normalization and data reshaping processes. [1] [2] [3] [4]

Changes to src/jaxsim/api/integrators.py:

  • Removed the axis argument from quaternion normalization to simplify the code. [1] [2]

Changes to src/jaxsim/api/model.py:

  • Used jax.vmap for vectorized transformation of external forces to the inertial-fixed representation.

📚 Documentation preview 📚: https://jaxsim--402.org.readthedocs.build//402/

@flferretti flferretti self-assigned this Apr 8, 2025
@flferretti flferretti marked this pull request as ready for review April 8, 2025 14:00
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There is a CI failure:

2025-04-08T14:01:29.3192429Z �[1m�[31mE       TypeError: JaxSimModelData.__init__() got an unexpected keyword argument 'contact_state'�[0m

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Benchmark

Benchmark suite Current: 4737fff Previous: b8dc880 Ratio
tests/test_benchmark.py::test_forward_dynamics_aba[1] 26.771161065432256 iter/sec (stddev: 0.00019485051250307908) 30.43094994884611 iter/sec (stddev: 0.0002354202407734067) 1.14
tests/test_benchmark.py::test_forward_dynamics_aba[128] 13.306121100340379 iter/sec (stddev: 0.0004374048403860229) 14.575836005798429 iter/sec (stddev: 0.0006585891972580001) 1.10
tests/test_benchmark.py::test_free_floating_bias_forces[1] 20.60888094041721 iter/sec (stddev: 0.0002337968909228176) 25.397133741737715 iter/sec (stddev: 0.0009491392636666373) 1.23
tests/test_benchmark.py::test_free_floating_bias_forces[128] 9.9183704918857 iter/sec (stddev: 0.0004916332580465632) 10.6816914285496 iter/sec (stddev: 0.000517398924164968) 1.08
tests/test_benchmark.py::test_forward_kinematics[1] 71.93808490759359 iter/sec (stddev: 0.0000938352122411298) 72.03167875049594 iter/sec (stddev: 0.00009500412749925384) 1.00
tests/test_benchmark.py::test_forward_kinematics[128] 23.478368868982997 iter/sec (stddev: 0.00023936644767193896) 23.471106849285086 iter/sec (stddev: 0.00020376718898495997) 1.00
tests/test_benchmark.py::test_free_floating_mass_matrix[1] 38.144736780834386 iter/sec (stddev: 0.00010683173008196215) 38.675730942178994 iter/sec (stddev: 0.00010568383460247941) 1.01
tests/test_benchmark.py::test_free_floating_mass_matrix[128] 38.005965185631815 iter/sec (stddev: 0.0001342870024498102) 38.2550466367494 iter/sec (stddev: 0.00015319005592225342) 1.01
tests/test_benchmark.py::test_free_floating_jacobian[1] 47.02984364688569 iter/sec (stddev: 0.000096850931532444) 48.19269568026804 iter/sec (stddev: 0.00008858560640105389) 1.02
tests/test_benchmark.py::test_free_floating_jacobian[128] 48.70964919878832 iter/sec (stddev: 0.00020954432155238548) 49.04617743615522 iter/sec (stddev: 0.00007703519636250519) 1.01
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] 28.439890376431343 iter/sec (stddev: 0.00023134987913193337) 29.346998764148726 iter/sec (stddev: 0.00015369239727139257) 1.03
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] 28.41847566873336 iter/sec (stddev: 0.00018270067170953475) 29.579412781307177 iter/sec (stddev: 0.0001491117343376076) 1.04
tests/test_benchmark.py::test_soft_contact_model[1] 26.332686737410622 iter/sec (stddev: 0.00016605382076508872) 27.180213298960158 iter/sec (stddev: 0.00011167425098739633) 1.03
tests/test_benchmark.py::test_soft_contact_model[128] 13.205507651440081 iter/sec (stddev: 0.00033206898927514496) 13.438532944177156 iter/sec (stddev: 0.0007602145408073091) 1.02
tests/test_benchmark.py::test_rigid_contact_model[1] 5.221830162211012 iter/sec (stddev: 0.0024398846972363344) 5.826319682602947 iter/sec (stddev: 0.0005824582164795953) 1.12
tests/test_benchmark.py::test_rigid_contact_model[128] 0.814829002459975 iter/sec (stddev: 0.0006678807676943632) 0.8342140152755144 iter/sec (stddev: 0.0033817016292866774) 1.02
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] 4.832844148561137 iter/sec (stddev: 0.003601730144188538) 5.166702718309451 iter/sec (stddev: 0.00044048150996140167) 1.07
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] 2.9647677439481095 iter/sec (stddev: 0.0007524538903536227) 3.1864271451250157 iter/sec (stddev: 0.001222744051181486) 1.07
tests/test_benchmark.py::test_simulation_step[1] 3.9179474018844815 iter/sec (stddev: 0.0007194938392652653) 4.16523976071087 iter/sec (stddev: 0.0005173472764501817) 1.06
tests/test_benchmark.py::test_simulation_step[128] 2.3911517830233424 iter/sec (stddev: 0.0018831808155391533) 2.4639733087509925 iter/sec (stddev: 0.0009650346967322344) 1.03

This comment was automatically generated by workflow using github-action-benchmark.

@flferretti
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From the benchmarks it looks like there is a slight slowdown after the revert, still we need to check with the RL training scripts @younik

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younik commented Apr 8, 2025

From the benchmarks it looks like there is a slight slowdown after the revert, still we need to check with the RL training scripts @younik

I am running it now, will let you know

@CarlottaSartore
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From the benchmarks it looks like there is a slight slowdown after the revert, still we need to check with the RL training scripts @younik

I am running it now, will let you know

Did you have the chance to check this ?

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younik commented Apr 9, 2025

From the benchmarks it looks like there is a slight slowdown after the revert, still we need to check with the RL training scripts @younik

I am running it now, will let you know

Did you have the chance to check this ?

It is still queued on Franklin D:

@traversaro
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The IITBMP014SRV001-GPU1 GPU (an A100) is available since this afternoon, if the job does not run until then we can also considering using it.

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younik commented Apr 9, 2025 •
edited
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It seems the slowdown persists... maybe I did the bisect wrongly that wasn't the fault PR; apologize for that
I am bisecting again

For reference, this is my conda env:

  name: train
  channels:
    - conda-forge
  dependencies:
    - _libgcc_mutex=0.1=conda_forge
    - _openmp_mutex=4.5=2_gnu
    - adwaita-icon-theme=47.0=unix_0
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    - at-spi2-atk=2.38.0=h0630a04_3
    - at-spi2-core=2.40.3=h0630a04_0
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    - aws-c-common=0.10.6=hb9d3cd8_0
    - aws-c-compression=0.3.0=h4e1184b_5
    - aws-c-event-stream=0.5.0=h7959bf6_11
    - aws-c-http=0.9.2=hefd7a92_4
    - aws-c-io=0.15.3=h173a860_6
    - aws-c-mqtt=0.11.0=h11f4f37_12
    - aws-c-s3=0.7.9=he1b24dc_1
    - aws-c-sdkutils=0.2.2=h4e1184b_0
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    - azure-storage-common-cpp=12.8.0=h736e048_1
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    - bullet-cpp=3.25=h6dcdc2f_3
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    - coloredlogs=15.0.1=pyhd8ed1ab_4
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    - cppzmq=4.10.0=h2e2a08d_1
    - cyrus-sasl=2.1.27=h54b06d7_7
    - dartsim-cpp=6.15.0=h5d87dc0_5
    - dav1d=1.2.1=hd590300_0
    - dbus=1.13.6=h5008d03_3
    - eigen=3.4.0=h00ab1b0_0
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    - fontconfig=2.15.0=h7e30c49_1
    - fonts-conda-ecosystem=1=0
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    - gdk-pixbuf=2.42.12=hb9ae30d_0
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    - gettext=0.23.1=h5888daf_0
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    - graphite2=1.3.13=h59595ed_1003
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    - gst-plugins-base=1.24.7=h0a52356_0
    - gstreamer=1.24.7=hf3bb09a_0
    - gtk3=3.24.43=h021d004_3
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    - gz-tools2=2.0.1=ha770c72_0
    - harfbuzz=10.3.0=h76408a6_0
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    - hicolor-icon-theme=0.17=ha770c72_2
    - humanfriendly=10.0=pyh707e725_8
    - icu=75.1=he02047a_0
    - imath=3.1.12=h7955e40_0
    - imgui=1.91.6=h633a208_1
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    - jack=1.9.22=h7c63dc7_2
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    - jxrlib=1.1=hd590300_3
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    - libboost=1.86.0=h6c02f8c_3
    - libboost-devel=1.86.0=h1a2810e_3
    - libboost-headers=1.86.0=ha770c72_3
    - libcap=2.71=h39aace5_0
    - libcblas=3.9.0=31_he106b2a_openblas
    - libccd-double=2.1=h59595ed_3
    - libclang-cpp19.1=19.1.7=default_hb5137d0_1
    - libclang13=19.1.7=default_h9c6a7e4_1
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    - libdb=6.2.32=h9c3ff4c_0
    - libde265=1.0.15=h00ab1b0_0
    - libdeflate=1.23=h4ddbbb0_0
    - libdrm=2.4.124=hb9d3cd8_0
    - libedit=3.1.20250104=pl5321h7949ede_0
    - libegl=1.7.0=ha4b6fd6_2
    - libev=4.33=hd590300_2
    - libevent=2.1.12=hf998b51_1
    - libexpat=2.6.4=h5888daf_0
    - libffi=3.4.6=h2dba641_0
    - libflac=1.4.3=h59595ed_0
    - libgcc=14.2.0=h767d61c_2
    - libgcc-ng=14.2.0=h69a702a_2
    - libgcrypt-lib=1.11.0=hb9d3cd8_2
    - libgd=2.3.3=h6f5c62b_11
    - libgdal=3.10.2=hea5fcb0_0
    - libgdal-core=3.10.2=h3359108_0
    - libgdal-fits=3.10.2=h872822d_0
    - libgdal-grib=3.10.2=h724c1be_0
    - libgdal-hdf4=3.10.2=h05c48c5_0
    - libgdal-hdf5=3.10.2=hf0b1780_0
    - libgdal-jp2openjpeg=3.10.2=ha1d2769_0
    - libgdal-kea=3.10.2=h41c5bbd_0
    - libgdal-netcdf=3.10.2=ha1d9371_0
    - libgdal-pdf=3.10.2=h8221dc3_0
    - libgdal-pg=3.10.2=ha83508c_0
    - libgdal-postgisraster=3.10.2=ha83508c_0
    - libgdal-tiledb=3.10.2=h30425e6_0
    - libgdal-xls=3.10.2=h5b36e33_0
    - libgettextpo=0.23.1=h5888daf_0
    - libgettextpo-devel=0.23.1=h5888daf_0
    - libgfortran=14.2.0=h69a702a_2
    - libgfortran-ng=14.2.0=h69a702a_2
    - libgfortran5=14.2.0=hf1ad2bd_2
    - libgl=1.7.0=ha4b6fd6_2
    - libglib=2.82.2=h2ff4ddf_1
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    - libglvnd=1.7.0=ha4b6fd6_2
    - libglx=1.7.0=ha4b6fd6_2
    - libgomp=14.2.0=h767d61c_2
    - libgoogle-cloud=2.35.0=h2b5623c_0
    - libgoogle-cloud-storage=2.35.0=h0121fbd_0
    - libgpg-error=1.51=hbd13f7d_1
    - libgrpc=1.67.1=h25350d4_1
    - libgz-cmake3=3.5.3=hac33072_0
    - libgz-math7=7.5.1=h5888daf_2
    - libgz-tools2=2.0.1=h4149140_0
    - libgz-utils2=2.2.0=h5888daf_1
    - libheif=1.19.5=gpl_hc21c24c_100
    - libhwloc=2.11.2=default_h0d58e46_1001
    - libiconv=1.18=h4ce23a2_1
    - libidn2=2.3.7=hd590300_0
    - libignition-cmake2=2.17.2=hac33072_0
    - libignition-common3=3.15.1=heb97769_5
    - libignition-fuel-tools4=4.6.0=h8eca169_13
    - libignition-math6=6.15.1=py311he92c4ec_2
    - libignition-msgs5=5.11.0=hf214d73_12
    - libignition-tools1=1.5.0=h1caa08d_3
    - libignition-transport8=8.4.0=h63858d2_14
    - libjpeg-turbo=3.0.0=hd590300_1
    - libkml=1.3.0=hf539b9f_1021
    - liblapack=3.9.0=31_h7ac8fdf_openblas
    - libllvm19=19.1.7=ha7bfdaf_1
    - liblzma=5.6.4=hb9d3cd8_0
    - liblzma-devel=5.6.4=hb9d3cd8_0
    - libmicrohttpd=1.0.1=hbc5bc17_1
    - libnetcdf=4.9.2=nompi_h00e09a9_116
    - libnghttp2=1.64.0=h161d5f1_0
    - libnsl=2.0.1=hd590300_0
    - libntlm=1.8=hb9d3cd8_0
    - libode=0.16.5=hfdb5939_0
    - libogg=1.3.5=h4ab18f5_0
    - libopenblas=0.3.29=pthreads_h94d23a6_0
    - libopenvino=2025.0.0=hdc3f47d_1
    - libopenvino-auto-batch-plugin=2025.0.0=h4d9b6c2_1
    - libopenvino-auto-plugin=2025.0.0=h4d9b6c2_1
    - libopenvino-hetero-plugin=2025.0.0=h981d57b_1
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    - libusb=1.0.27=h520f47e_100
    - libuuid=2.38.1=h0b41bf4_0
    - libva=2.22.0=h8a09558_1
    - libvorbis=1.3.7=h9c3ff4c_0
    - libvpx=1.14.1=hac33072_0
    - libwebp-base=1.5.0=h851e524_0
    - libxcb=1.17.0=h8a09558_0
    - libxcrypt=4.4.36=hd590300_1
    - libxkbcommon=1.8.0=hc4a0caf_0
    - libxml2=2.13.6=h8d12d68_0
    - libxslt=1.1.39=h76b75d6_0
    - libzip=1.11.2=h6991a6a_0
    - libzlib=1.3.1=hb9d3cd8_2
    - lz4-c=1.10.0=h5888daf_1
    - lzo=2.10=hd590300_1001
    - mashumaro=3.15=pyhd8ed1ab_1
    - metis=5.1.0=hd0bcaf9_1007
    - minizip=4.0.7=h05a5f5f_3
    - mpg123=1.32.9=hc50e24c_0
    - mumps-include=5.7.3=ha770c72_7
    - mumps-seq=5.7.3=h27a6a8b_0
    - mysql-common=9.0.1=h266115a_4
    - mysql-libs=9.0.1=he0572af_4
    - ncurses=6.5=h2d0b736_3
    - nettle=3.9.1=h7ab15ed_0
    - nlopt=2.9.0=py311h40a09b0_0
    - nspr=4.36=h5888daf_0
    - nss=3.108=h159eef7_0
    - ocl-icd=2.3.2=hb9d3cd8_2
    - octomap=1.10.0=h84d6215_0
    - ogre=1.10.12.1=he8a7676_6
    - openal-soft=1.23.1=h00ab1b0_0
    - opencl-headers=2024.10.24=h5888daf_0
    - openexr=3.3.2=h6326327_1
    - openh264=2.6.0=hc22cd8d_0
    - openjpeg=2.5.3=h5fbd93e_0
    - openldap=2.6.9=he970967_0
    - openscenegraph=3.6.5=h6fe4003_20
    - openssl=3.4.1=h7b32b05_0
    - p11-kit=0.24.1=hc5aa10d_0
    - packaging=24.2=pyhd8ed1ab_2
    - pagmo=2.19.1=h557d3f9_5
    - pango=1.56.1=h861ebed_0
    - pcre=8.45=h9c3ff4c_0
    - pcre2=10.44=hba22ea6_2
    - pip=25.0.1=pyh8b19718_0
    - pixman=0.44.2=h29eaf8c_0
    - poppler=24.12.0=hd7b24de_2
    - poppler-data=0.4.12=hd8ed1ab_0
    - postgresql=17.4=h9e3fa73_0
    - proj=9.5.1=h0054346_0
    - pthread-stubs=0.4=hb9d3cd8_1002
    - pugixml=1.15=h3f63f65_0
    - pulseaudio-client=17.0=hb77b528_0
    - pybind11-abi=4=hd8ed1ab_3
    - python=3.11.11=h9e4cc4f_1_cpython
    - python_abi=3.11=5_cp311
    - qt-main=5.15.15=hc3cb62f_2
    - qwt=6.3.0=h7c222af_0
    - rav1e=0.6.6=he8a937b_2
    - re2=2024.07.02=h9925aae_2
    - readline=8.2=h8c095d6_2
    - resolve-robotics-uri-py=0.3.0=pyhd8ed1ab_0
    - rod=0.3.4=pyhd8ed1ab_0
    - ruby=3.4.2=he7af4c9_0
    - s2n=1.5.11=h072c03f_0
    - scipy=1.15.2=py311h8f841c2_0
    - sdl2=2.32.50=h9b8e6db_0
    - sdl3=3.2.4=h3083f51_0
    - setuptools=75.8.0=pyhff2d567_0
    - simbody=3.7=h64f3f5a_3
    - snappy=1.2.1=h8bd8927_1
    - spdlog=1.15.1=hb29a8c4_0
    - sqlite=3.49.1=h9eae976_1
    - svt-av1=2.3.0=h5888daf_0
    - swig=4.3.0=heed6a68_0
    - tbb=2022.0.0=hceb3a55_0
    - tbb-devel=2022.0.0=h1f99690_0
    - tiledb=2.27.1=he4dccf3_0
    - tinyxml=2.6.2=h4bd325d_2
    - tinyxml2=10.0.0=h59595ed_0
    - tk=8.6.13=noxft_h4845f30_101
    - trimesh=4.6.3=pyhd8ed1ab_0
    - typing_extensions=4.12.2=pyha770c72_1
    - tzcode=2025a=hb9d3cd8_0
    - urdfdom=4.0.1=h7fd8c06_0
    - urdfdom_headers=1.1.2=h84d6215_0
    - uriparser=0.9.8=hac33072_0
    - wayland=1.23.1=h3e06ad9_0
    - wayland-protocols=1.41=hd8ed1ab_0
    - wheel=0.45.1=pyhd8ed1ab_1
    - x264=1!164.3095=h166bdaf_2
    - x265=3.5=h924138e_3
    - xcb-util=0.4.1=hb711507_2
    - xcb-util-image=0.4.0=hb711507_2
    - xcb-util-keysyms=0.4.1=hb711507_0
    - xcb-util-renderutil=0.3.10=hb711507_0
    - xcb-util-wm=0.4.2=hb711507_0
    - xerces-c=3.2.5=h988505b_2
    - xkeyboard-config=2.43=hb9d3cd8_0
    - xmltodict=0.14.2=pyhd8ed1ab_1
    - xorg-libice=1.1.2=hb9d3cd8_0
    - xorg-libsm=1.2.5=he73a12e_0
    - xorg-libx11=1.8.11=h4f16b4b_0
    - xorg-libxau=1.0.12=hb9d3cd8_0
    - xorg-libxaw=1.0.16=hb9d3cd8_0
    - xorg-libxcomposite=0.4.6=hb9d3cd8_2
    - xorg-libxcursor=1.2.3=hb9d3cd8_0
    - xorg-libxdamage=1.1.6=hb9d3cd8_0
    - xorg-libxdmcp=1.1.5=hb9d3cd8_0
    - xorg-libxext=1.3.6=hb9d3cd8_0
    - xorg-libxfixes=6.0.1=hb9d3cd8_0
    - xorg-libxi=1.8.2=hb9d3cd8_0
    - xorg-libxinerama=1.1.5=h5888daf_1
    - xorg-libxmu=1.2.1=hb9d3cd8_1
    - xorg-libxpm=3.5.17=hb9d3cd8_1
    - xorg-libxrandr=1.5.4=hb9d3cd8_0
    - xorg-libxrender=0.9.12=hb9d3cd8_0
    - xorg-libxscrnsaver=1.2.4=hb9d3cd8_0
    - xorg-libxt=1.3.1=hb9d3cd8_0
    - xorg-libxtst=1.2.5=hb9d3cd8_3
    - xorg-libxxf86vm=1.1.6=hb9d3cd8_0
    - xorg-xf86vidmodeproto=2.3.1=hb9d3cd8_1005
    - xz=5.6.4=hbcc6ac9_0
    - xz-gpl-tools=5.6.4=hbcc6ac9_0
    - xz-tools=5.6.4=hb9d3cd8_0
    - yaml=0.2.5=h7f98852_2
    - zeromq=4.3.5=h3b0a872_7
    - zlib=1.3.1=hb9d3cd8_2
    - zstd=1.5.7=hb8e6e7a_1
    - zziplib=0.13.69=he45264a_2
    - pip:
        - absl-py==2.1.0
        - annotated-types==0.7.0
        - asttokens==3.0.0
        - attrs==25.1.0
        - blinker==1.9.0
        - brax==0.12.1
        - certifi==2025.1.31
        - charset-normalizer==3.4.1
        - chex==0.1.88
        - click==8.1.8
        - cloudpickle==3.1.1
        - contourpy==1.3.1
        - cycler==0.12.1
        - decorator==5.2.1
        - distrax==0.1.5
        - dm-env==1.6
        - dm-tree==0.1.9
        - docker-pycreds==0.4.0
        - docstring-parser==0.16
        - dotmap==1.3.30
        - etils==1.12.0
        - evosax==0.1.6
        - executing==2.2.0
        - farama-notifications==0.0.4
        - flask==3.1.0
        - flask-cors==5.0.1
        - flax==0.10.3
        - fonttools==4.56.0
        - fsspec==2025.2.0
        - gast==0.6.0
        - gitdb==4.0.12
        - gitpython==3.1.44
        - glfw==2.8.0
        - grpcio==1.70.0
        - gym==0.26.2
        - gym-notices==0.0.8
        - gymnasium==1.0.0
        - gymnax==0.0.8
        - gymnaxsim==0.0.1
        - humanize==4.12.1
        - idna==3.10
        - igor==0.3
        - importlib-resources==6.5.2
        - ipython==8.32.0
        - itsdangerous==2.2.0
        - jax==0.5.0
        - jax-cuda12-pjrt==0.5.0
        - jax-cuda12-plugin==0.5.0
        - jax-dataclasses==1.6.1
        - jaxlib==0.5.0
        - jaxlie==1.4.2
        - jaxopt==0.8.3
        - jaxsim==0.6.2.dev241
        - jedi==0.19.2
        - jinja2==3.1.5
        - kiwisolver==1.4.8
        - lxml==5.3.1
        - markdown-it-py==3.0.0
        - markupsafe==3.0.2
        - matplotlib==3.10.0
        - matplotlib-inline==0.1.7
        - mdurl==0.1.2
        - mediapy==1.2.2
        - ml-collections==1.0.0
        - ml-dtypes==0.5.1
        - msgpack==1.1.0
        - mujoco==3.2.7
        - mujoco-mjx==3.2.7
        - nest-asyncio==1.6.0
        - nose==1.3.7
        - numpy==2.2.3
        - nvidia-cublas-cu12==12.8.3.14
        - nvidia-cuda-cupti-cu12==12.8.57
        - nvidia-cuda-nvcc-cu12==12.8.61
        - nvidia-cuda-runtime-cu12==12.8.57
        - nvidia-cudnn-cu12==9.7.1.26
        - nvidia-cufft-cu12==11.3.3.41
        - nvidia-cusolver-cu12==11.7.2.55
        - nvidia-cusparse-cu12==12.5.7.53
        - nvidia-nccl-cu12==2.25.1
        - nvidia-nvjitlink-cu12==12.8.61
        - opt-einsum==3.4.0
        - optax==0.2.4
        - orbax-checkpoint==0.11.6
        - pandas==2.2.3
        - parso==0.8.4
        - pexpect==4.9.0
        - pillow==11.1.0
        - platformdirs==4.3.6
        - pptree==3.1
        - prompt-toolkit==3.0.50
        - protobuf==5.29.3
        - psutil==7.0.0
        - ptyprocess==0.7.0
        - pure-eval==0.2.3
        - pydantic==2.10.6
        - pydantic-core==2.27.2
        - pygments==2.19.1
        - pyopengl==3.1.9
        - pyparsing==3.2.1
        - python-dateutil==2.9.0.post0
        - pytinyrenderer==0.0.14
        - pytz==2025.1
        - pyyaml==6.0.2
        - qpax==0.0.9
        - rejax==0.1.1
        - requests==2.32.3
        - rich==13.9.4
        - sdformat==0.23.2
        - seaborn==0.13.2
        - sentry-sdk==2.22.0
        - setproctitle==1.3.5
        - shtab==1.7.1
        - simplejson==3.20.1
        - six==1.17.0
        - smmap==5.0.2
        - stack-data==0.6.3
        - tensorboardx==2.6.2.2
        - tensorflow-probability==0.25.0
        - tensorstore==0.1.72
        - toolz==1.0.0
        - traitlets==5.14.3
        - treescope==0.1.9
        - typeguard==4.4.2
        - tyro==0.9.16
        - tzdata==2025.1
        - urllib3==2.3.0
        - wandb==0.19.7
        - wcwidth==0.2.13
        - werkzeug==3.1.3
        - wrapt==1.17.2
        - zipp==3.21.0
  prefix: /home/oyounis/.conda/envs/train

CarlottaSartore
CarlottaSartore requested changes Apr 10, 2025
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We need to understand what is still introducing the slow down before merging the PR

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@CarlottaSartore CarlottaSartore CarlottaSartore requested changes

@younik younik Awaiting requested review from younik

@xela-95 xela-95 Awaiting requested review from xela-95 xela-95 is a code owner

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4 participants
@flferretti @traversaro @younik @CarlottaSartore