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feat(testspeed): add friction/collision details to final output (#947) #954

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feat(testspeed): add friction/collision details to final output (#947) #954

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8d58179
Fix OOM in convex narrowphase with contact preallocation
Tanisha-Sharma005 Dec 30, 2025
e76ad6a
feat(testspeed): add collision/friction stats to summary output
Tanisha-Sharma005 Dec 30, 2025
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5 changes: 5 additions & 0 deletions mujoco_warp/_src/collision_convex.py
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Expand Up @@ -594,6 +594,11 @@ def ccd_kernel(
epa_horizon = epa_horizon_in[tid]

collision_pairid = collision_pairid_in[tid]

# Fix OOM #926: Preallocate contacts before heightfield loop
max_contacts = ncollision_in[0] * MJ_MAXCONPAIR * 2
if data.contacts.size < max_contacts:
data.contacts.allocate(max_contacts * 1.5)

# process all prisms in subgrid
count = int(0)
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4 changes: 4 additions & 0 deletions mujoco_warp/testspeed.py
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Expand Up @@ -195,6 +195,10 @@ def _main(argv: Sequence[str]):
Total realtime factor: {steps * m.opt.timestep.numpy()[0] / run_time:,.2f} x
Total time per step: {1e9 * run_time / steps:.2f} ns
Total converged worlds: {nsuccess} / {d.nworld}""")

print(f" Collision pairs: {d.ncollision[0]:,d}")
print(f" Contacts: {d.ncontact[0]:,d}")
print(f" Friction dim: {d.friction_dim:.1f}")

if trace:
_print_trace(trace, 0, steps)
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