Refactor workflow to improve performance result handling and caching

.github/workflows/gpu_benchmark.yml

@@ -12,10 +12,10 @@ permissions:
 
 jobs:
   benchmark:
-    runs-on: [self-hosted, gpu]
+    runs-on: self-hosted
     container:
       image: ghcr.io/nvidia/jax:jax
-      options: --gpus all
+      options: --rm --gpus all
 
     steps:
       - name: Checkout repository
@@ -25,29 +25,30 @@ jobs:
         run: |
           pip install .[all]
 
-      - name: Run JaxSim benchmarks
-        id: benchmark
-        run: |
-          echo "### Benchmark Results" > results.txt
-          pytest --benchmark-only --gpu-only >> results.txt
-          # Output the results to GitHub Actions for use in the comment
-          echo "results=$(cat results.txt)" >> $GITHUB_ENV
+      - name: Performance regression check
+        uses: actions/checkout@v4
 
-      - name: Debugging comment for benchmarks start
-        uses: thollander/actions-comment-pull-request@v3
+      - name: Run benchmark and store result
+        run: pytest bench.py --benchmark-json output.json
+
+      - name: Download previous benchmark data
+        uses: actions/cache@v4
         with:
-          message: |
-            Running GPU benchmarks for this PR :rocket:
-          comment-tag: to_delete_on_completion
-          mode: delete-on-completion
-
-      - name: Post results in PR comment
-        if: github.event_name == 'pull_request'
-        uses: thollander/actions-comment-pull-request@v3
+          path: ./cache
+          key: ${{ runner.os }}-benchmark
+
+      - name: Store benchmark result
+        uses: benchmark-action/github-action-benchmark@v1
         with:
-          pr-number: ${{ github.event.number }}
-          message: |
-            _(execution **${{ github.run_id }}** / attempt **${{ github.run_attempt }}**)_
-            ${{ env.results }}
-          comment-tag: execution
-          mode: upsert
+          tool: 'pytest'
+          output-file-path: output.json
+          external-data-json-path: ./cache/benchmark-data.json
+          fail-on-alert: true
+          summary-always: true
+          alert-threshold: 150%
+          auto-push: false
+          gh-pages-branch: gh-pages
+
+      - name: Push benchmark result
+        if: github.event_name != 'pull_request'
+        run: git push 'https://ami-iit:${{ secrets.GITHUB_TOKEN }}@github.com/ami-iit/jaxsim.git' gh-pages:gh-pages