# Benchmarks
Generated: 2026-03-30T02:48:09Z | Commit: 11e690e | Branch: main
| Benchmark | Latest (ns) | Previous (ns) | Baseline (ns) |
|-----------|-------------|---------------|---------------|
| skeleton_total_mass_100 | 45 | 44 | 44 |
| skeleton_find_bone_100 | 25 | 25 | 25 |
| skeleton_chain_to_root_100 | 3358 | 2322 | 2322 |
| skeleton_children_100 | 67 | 70 | 70 |
| muscle_current_force | 12 | 12 | 12 |
| muscle_force_at_with_velocity | 7 | 7 | 7 |
| muscle_activation_update | 10 | 10 | 10 |
| center_of_mass_100 | 139 | 142 | 142 |
| ground_reaction_force | 1 | 1 | 1 |
| support_polygon_4 | 49 | 49 | 49 |
| zero_moment_point | 3 | 3 | 3 |
| stability_margin | 14 | 14 | 14 |
| balance_margin_1d | 1 | 1 | 1 |
| gait_limb_phase | 6 | 6 | 6 |
| gait_speed | 0 | 0 | 0 |
| gait_blend | 62 | 62 | 62 |
| gait_controller_update | 0 | 0 | 0 |
| foot_placements_4_limbs | 70 | 70 | 70 |
| fk_biped_20 | 603 | 603 | 603 |
| fk_chain_100 | 2932 | 2932 | 2932 |
| pose_blend_20 | 418 | 418 | 418 |
| body_update_20 | 800 | 800 | 800 |
| ik_two_bone | 6 | 6 | 6 |
| ik_fabrik_5_bone | 1334 | 1334 | 1334 |
| fatigue_update | 24 | 24 | 24 |
| allometric_skeleton_biped_70kg | 911 | 911 | 911 |
| apply_morphology_20 | 718 | 718 | 718 |