{
  "meta": {
    "host": "linux3",
    "cpu": "x86_64",
    "logical_cpus": 56,
    "gpu": "NVIDIA RTX A6000",
    "time": "2026-09-14T09:08:25",
    "argv": {
      "task": "state",
      "envs": [
        128
      ],
      "workers": 0,
      "backend": "processes",
      "dr": "nominal",
      "scale": 0.0,
      "workload": "hold",
      "warmup": 5,
      "ticks": 40,
      "ik_period": 8,
      "physics_dt": 0.002,
      "width": 320,
      "height": 180,
      "shadows": 1,
      "device": "cuda:1",
      "output": "reports/benchmark/ik_period_8.json",
      "label": "state 128 envs, IK every 8 substeps"
    }
  },
  "results": [
    {
      "label": "state 128 envs, IK every 8 substeps",
      "task": "state",
      "render": false,
      "num_envs": 128,
      "backend": "processes",
      "workers": 56,
      "dr": "nominal",
      "dr_scale": 0.0,
      "workload": "hold",
      "physics_dt": 0.002,
      "substeps_per_tick": 25,
      "ik_period_substeps": 8,
      "image": null,
      "shadows": true,
      "ticks": 40,
      "wall_s": 3.6511900452896953,
      "env_steps_per_s": 1402.2825261054757,
      "ticks_per_s": 10.955332235199029,
      "sim_seconds_per_wall_second": 70.11412630527379,
      "ms_per_env_step": 0.7131230557206436,
      "breakdown_ms_per_tick": {
        "simulate": 78.7551511079073,
        "observe": 12.504947325214744,
        "render": 0.0,
        "reset": 0.0
      },
      "breakdown_fraction": {
        "simulate": 0.8627888456204272,
        "observe": 0.13699585253139096,
        "render": 0.0,
        "reset": 0.0
      },
      "worker_mean_ms_per_tick": {
        "physics": 42.29245541043513,
        "control": 7.032733702882458,
        "state": 0.8335854966259961,
        "reset": 0.0
      },
      "gpu_process_mem_peak_gib": 0.0,
      "gpu_util_mean_pct": 0.0,
      "gpu_util_max_pct": 0.0,
      "cpu_percent_mean": 2832.529166666667,
      "cpu_cores_equivalent": 28.325291666666672,
      "torch_peak_gib": null,
      "build_and_reset_s": 36.557795241475105,
      "success_in_window": 0
    }
  ]
}