{
  "meta": {
    "host": "linux3",
    "cpu": "x86_64",
    "logical_cpus": 56,
    "gpu": "NVIDIA RTX A6000",
    "time": "2026-09-14T09:27:39",
    "argv": {
      "task": "visual",
      "envs": [
        128
      ],
      "workers": 0,
      "backend": "processes",
      "dr": "nominal",
      "scale": 0.0,
      "workload": "hold",
      "warmup": 5,
      "ticks": 40,
      "ik_period": 4,
      "physics_dt": 0.002,
      "width": 320,
      "height": 180,
      "shadows": 0,
      "device": "cuda:1",
      "output": "reports/benchmark/image_180x320_noshadow.json",
      "label": "visual 128 envs 180x320 no shadows"
    }
  },
  "results": [
    {
      "label": "visual 128 envs 180x320 no shadows",
      "task": "visual",
      "render": true,
      "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": 4,
      "image": [
        180,
        320
      ],
      "shadows": false,
      "ticks": 40,
      "wall_s": 5.238562917336822,
      "env_steps_per_s": 977.3672819802465,
      "ticks_per_s": 7.635681890470676,
      "sim_seconds_per_wall_second": 48.868364099012325,
      "ms_per_env_step": 1.023156819792348,
      "breakdown_ms_per_tick": {
        "simulate": 89.85989699140191,
        "observe": 12.399622751399875,
        "render": 28.67945679463446,
        "reset": 0.0
      },
      "breakdown_fraction": {
        "simulate": 0.6861415881368079,
        "observe": 0.0946795748915322,
        "render": 0.21898720887532652,
        "reset": 0.0
      },
      "worker_mean_ms_per_tick": {
        "physics": 44.56192824083181,
        "control": 13.241375312957512,
        "state": 0.8424810749212546,
        "reset": 0.0
      },
      "gpu_process_mem_peak_gib": 2.0390625,
      "gpu_util_mean_pct": 28.0,
      "gpu_util_max_pct": 34.0,
      "cpu_percent_mean": 2382.8289473684213,
      "cpu_cores_equivalent": 23.82828947368421,
      "torch_peak_gib": 0.687842845916748,
      "build_and_reset_s": 42.349494705908,
      "success_in_window": 0
    }
  ]
}
