# Runtime measurements

Provenance: instance 52582439, RTX PRO 5000 Blackwell, driver 595.58.03. PhysX is CPU for rigid scenes and GPU for compression. `newton_mjwarp` is the Newton importer route; native MJWarp is named separately.

Headless **instrumented harness**, not rendering FPS or pure solver speed. First 0.1 simulated seconds excluded; control/readback/validation/trace assembly retained. Single environment. Different deformable timesteps are not equal work per step. Three repetitions intended; missing/failed measurements are not rankings.

| Scenario | Backend | Valid runs | Median steps/s | Min–max steps/s | Median real-time factor | dt (ms) |
| --- | --- | ---: | ---: | ---: | ---: | ---: |
| collision | genesis | 3 | 110.3 | 106.8–111.1 | 0.110× | 1 |
| collision | mujoco_cpu | 3 | 15597.2 | 15536.0–15781.5 | 15.597× | 1 |
| collision | newton_mjwarp | 3 | 239.6 | 237.5–246.8 | 0.240× | 1 |
| collision | physx | 3 | 937.1 | 909.4–955.1 | 0.937× | 1 |
| compression | genesis | 3 | 22.5 | 21.9–23.7 | 0.023× | 1 |
| compression | mujoco_cpu | 3 | 6227.5 | 5875.7–6399.5 | 0.311× | 0.05 |
| compression | mujoco_warp_native | 3 | 1969.9 | 1969.4–1973.5 | 0.098× | 0.05 |
| compression | physx | 3 | 455.6 | 407.4–457.8 | 0.456× | 1 |
| compression | vbd | 3 | 90.0 | 88.5–98.2 | 0.045× | 0.5 |
| drop | genesis | 3 | 913.9 | 895.1–914.9 | 0.914× | 1 |
| drop | mujoco_cpu | 3 | 44559.1 | 44372.8–46952.0 | 44.559× | 1 |
| drop | newton_mjwarp | 3 | 377.0 | 372.1–385.9 | 0.377× | 1 |
| drop | physx | 3 | 1224.1 | 352.0–1241.7 | 1.224× | 1 |
| grasp | genesis | 3 | 259.9 | 259.8–260.0 | 0.260× | 1 |
| grasp | mujoco_cpu | 3 | 4393.4 | 4101.2–4491.5 | 4.393× | 1 |
| grasp | newton_mjwarp | 3 | 232.6 | 219.8–237.3 | 0.233× | 1 |
| grasp | physx | 3 | 521.4 | 504.2–528.9 | 0.521× | 1 |
| hinge | genesis | 3 | 1779.2 | 1685.0–1780.9 | 1.779× | 1 |
| hinge | mujoco_cpu | 3 | 183026.9 | 181034.0–196014.7 | 183.027× | 1 |
| hinge | newton_mjwarp | 3 | 401.3 | 378.9–436.1 | 0.401× | 1 |
| hinge | physx | 3 | 1275.4 | 1206.8–1276.8 | 1.275× | 1 |
| panda | genesis | 3 | 718.2 | 717.8–729.9 | 0.718× | 1 |
| panda | mujoco_cpu | 3 | 33906.6 | 32861.3–33909.1 | 33.907× | 1 |
| panda | newton_mjwarp | 3 | 376.4 | 347.4–380.4 | 0.376× | 1 |
| panda | physx | 3 | 773.6 | 763.0–824.7 | 0.774× | 1 |
| push | genesis | 3 | 82.2 | 82.2–82.6 | 0.082× | 1 |
| push | mujoco_cpu | 3 | 2043.9 | 1912.5–2058.4 | 2.044× | 1 |
| push | newton_mjwarp | 3 | 173.7 | 167.0–174.5 | 0.174× | 1 |
| push | physx | 3 | 365.4 | 364.3–367.0 | 0.365× | 1 |
| slide | genesis | 3 | 867.7 | 850.3–873.5 | 0.868× | 1 |
| slide | mujoco_cpu | 3 | 40746.8 | 40437.9–44469.0 | 40.747× | 1 |
| slide | newton_mjwarp | 3 | 376.8 | 368.4–384.2 | 0.377× | 1 |
| slide | physx | 3 | 1256.3 | 1231.3–1262.2 | 1.256× | 1 |
| stack | genesis | 3 | 209.4 | 208.1–210.5 | 0.209× | 1 |
| stack | mujoco_cpu | 3 | 3048.5 | 3031.6–3163.6 | 3.049× | 1 |
| stack | newton_mjwarp | 3 | 215.0 | 214.4–224.0 | 0.215× | 1 |
| stack | physx | 3 | 469.0 | 458.3–475.4 | 0.469× | 1 |

## Native primitive batching (separate workload)

No per-step recording or force extraction; full-trial warm-up, reset, three synchronized trials. Native MJWarp bypasses the Newton importer. Endpoint finite checks do not validate the full trajectory. No batched PhysX or coupled VBD claim.

| Task | Backend | Worlds | Median aggregate world-steps/s | Median per-world real-time factor |
| --- | --- | ---: | ---: | ---: |
| drop | genesis | 1 | 2310.7 | 2.311× |
| drop | genesis | 128 | 237529.1 | 1.856× |
| drop | genesis | 16 | 30400.3 | 1.900× |
| drop | mujoco_cpu | 1 | 413574.4 | 413.574× |
| drop | mujoco_warp_native | 1 | 6723.8 | 6.724× |
| drop | mujoco_warp_native | 128 | 779594.5 | 6.091× |
| drop | mujoco_warp_native | 16 | 106998.6 | 6.687× |
| slide | genesis | 1 | 1875.8 | 1.876× |
| slide | genesis | 128 | 197935.5 | 1.546× |
| slide | genesis | 16 | 25256.6 | 1.579× |
| slide | mujoco_cpu | 1 | 369476.8 | 369.477× |
| slide | mujoco_warp_native | 1 | 6422.1 | 6.422× |
| slide | mujoco_warp_native | 128 | 702897.1 | 5.491× |
| slide | mujoco_warp_native | 16 | 98824.3 | 6.177× |

## Failed or missing results

None among completed jobs. Check batch completion separately.