Create configuration for GPU benchmarks on local runner #9

	name: GPU Benchmarks

	on:
	pull_request:
	types: [opened, reopened, synchronize]
	workflow_dispatch:
	schedule:
	- cron: "0 0 * * 1" # Run At 00:00 on Monday

	permissions:
	pull-requests: write

	jobs:
	benchmark:
	runs-on: self-hosted
	container:
	image: ghcr.io/nvidia/jax:jax
	options: --rm --gpus all

	steps:
	- name: Checkout repository
	uses: actions/checkout@v4

	- name: Set up environment
	run: \|
	pip install .[all]

	- name: Performance regression check
	uses: actions/checkout@v4

	- name: Run benchmark and store result
	run: pytest tests/test_benchmarks.py --benchmark-json output.json

	- name: Download previous benchmark data
	uses: actions/cache@v4
	with:
	path: ./cache
	key: ${{ runner.os }}-benchmark

	- name: Store benchmark result
	uses: benchmark-action/github-action-benchmark@v1
	with:
	tool: 'pytest'
	output-file-path: output.json
	external-data-json-path: ./cache/benchmark-data.json
	fail-on-alert: true
	summary-always: true
	alert-threshold: 150%
	auto-push: false
	gh-pages-branch: gh-pages

	- name: Push benchmark result
	if: github.event_name != 'pull_request'
	run: git push 'https://ami-iit:${{ secrets.GITHUB_TOKEN }}@github.com/ami-iit/jaxsim.git' gh-pages:gh-pages

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