Update CI configuration to use Pixi in testing #409
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Benchmark
| Benchmark suite | Current: 1cf773e | Previous: ca7c97a | Ratio |
|---|---|---|---|
tests/test_benchmark.py::test_forward_dynamics_aba[1] |
30.53729758043526 iter/sec (stddev: 0.00013007682501258474) |
30.225740185806888 iter/sec (stddev: 0.0001372208580308514) |
0.99 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
14.456129320340096 iter/sec (stddev: 0.00031341458376104344) |
14.340358647044491 iter/sec (stddev: 0.0005094678573219131) |
0.99 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
24.659321671574542 iter/sec (stddev: 0.00016893669518657973) |
24.530000391500646 iter/sec (stddev: 0.0003159537539681427) |
0.99 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
10.627939286687344 iter/sec (stddev: 0.0007509309182575773) |
10.640305976207173 iter/sec (stddev: 0.00046810655687254843) |
1.00 |
tests/test_benchmark.py::test_forward_kinematics[1] |
71.32675700038982 iter/sec (stddev: 0.00010646889029993757) |
71.14906931454243 iter/sec (stddev: 0.0008374260839722691) |
1.00 |
tests/test_benchmark.py::test_forward_kinematics[128] |
23.320748337291285 iter/sec (stddev: 0.00018064595544294945) |
23.088966092430784 iter/sec (stddev: 0.0004455134522397485) |
0.99 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
38.343500739337365 iter/sec (stddev: 0.0001220809033861764) |
38.02195465461988 iter/sec (stddev: 0.0002585321189938397) |
0.99 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
37.50046989060049 iter/sec (stddev: 0.0007489049816012365) |
37.790221723154616 iter/sec (stddev: 0.00016332275094950913) |
1.01 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
46.95965625076719 iter/sec (stddev: 0.00010044173447366088) |
46.82724496800534 iter/sec (stddev: 0.00009909327491578557) |
1.00 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
48.19594999328374 iter/sec (stddev: 0.00015027361832385547) |
48.15790981134753 iter/sec (stddev: 0.00009415000425498639) |
1.00 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
28.61959899016965 iter/sec (stddev: 0.0003106887787121891) |
28.508729388962088 iter/sec (stddev: 0.0011573563850335675) |
1.00 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
28.93508039550472 iter/sec (stddev: 0.00011019658735266523) |
28.522605305140836 iter/sec (stddev: 0.00015003066052786886) |
0.99 |
tests/test_benchmark.py::test_soft_contact_model[1] |
26.18284805281211 iter/sec (stddev: 0.00025476415425659924) |
26.662079449499863 iter/sec (stddev: 0.00029952690341972596) |
1.02 |
tests/test_benchmark.py::test_soft_contact_model[128] |
13.384565580239139 iter/sec (stddev: 0.0005374818822117959) |
13.372170975462517 iter/sec (stddev: 0.0005592635026752642) |
1.00 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
5.633407618791013 iter/sec (stddev: 0.0006619822283216352) |
5.6403977469631075 iter/sec (stddev: 0.00041953383657345524) |
1.00 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.8341672665724162 iter/sec (stddev: 0.0007225867270384879) |
0.8319241973244146 iter/sec (stddev: 0.0007055812156109495) |
1.00 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
5.274072019921118 iter/sec (stddev: 0.0007096032947673236) |
5.251020128154964 iter/sec (stddev: 0.00034428754767202365) |
1.00 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
2.5088091994607353 iter/sec (stddev: 0.0006154213711605659) |
2.6457213968494355 iter/sec (stddev: 0.0006710518503080543) |
1.05 |
tests/test_benchmark.py::test_simulation_step[1] |
4.0928649810234905 iter/sec (stddev: 0.002528434732288664) |
4.115390775818093 iter/sec (stddev: 0.0007920648390010472) |
1.01 |
tests/test_benchmark.py::test_simulation_step[128] |
2.1350579476567817 iter/sec (stddev: 0.000932083906299538) |
2.1318806484671167 iter/sec (stddev: 0.0015071935152788985) |
1.00 |
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This pull request includes updates to the CI/CD workflow configuration to use Pixi in testing.
Note
Already rebased onto #404
Key changes include:
Installation Process Updates:
[all]option. ([.github/workflows/ci_cd.ymlL85-R85](https://github.com/ami-iit/jaxsim/pull/409/files#diff-c80d54cb778b5196ee7b73e152870cac313eed095f65886e3f15247cdc900d1aL85-R85))Tool Updates:
actions/checkout@v4configuration to enable LFS (Large File Storage) support. ([.github/workflows/ci_cd.ymlL101-R115](https://github.com/ami-iit/jaxsim/pull/409/files#diff-c80d54cb778b5196ee7b73e152870cac313eed095f65886e3f15247cdc900d1aL101-R115))Command Updates:
pixi run --frozen testinstead ofpytest, ensuring compatibility with the new setup. ([.github/workflows/ci_cd.ymlL101-R115](https://github.com/ami-iit/jaxsim/pull/409/files#diff-c80d54cb778b5196ee7b73e152870cac313eed095f65886e3f15247cdc900d1aL101-R115))📚 Documentation preview 📚: https://jaxsim--409.org.readthedocs.build//409/