Merge zero-joint benchmark support

Author: AntoineRichard

source/isaaclab/isaaclab/benchmark/method_benchmark.py

@@ -85,9 +85,11 @@ class MethodBenchmarkRunnerConfig:
 
     def __post_init__(self) -> None:
         """Validate benchmark workload sizes."""
-        for field_name in ("num_iterations", "num_instances", "num_bodies", "num_joints"):
+        for field_name in ("num_iterations", "num_instances", "num_bodies"):
             if getattr(self, field_name) <= 0:
                 raise ValueError(f"{field_name} must be greater than zero")
+        if self.num_joints < 0:
+            raise ValueError("num_joints must be non-negative")
         if self.warmup_steps < 0:
             raise ValueError("warmup_steps must be non-negative")
 

source/isaaclab/test/benchmark/test_method_benchmark.py

@@ -23,7 +23,7 @@
         ("warmup_steps", -1),
         ("num_instances", 0),
         ("num_bodies", 0),
-        ("num_joints", 0),
+        ("num_joints", -1),
     ),
 )
 def test_config_rejects_invalid_workload_sizes(field: str, value: int) -> None:
@@ -32,6 +32,13 @@ def test_config_rejects_invalid_workload_sizes(field: str, value: int) -> None:
         MethodBenchmarkRunnerConfig(**{field: value})
 
 
+def test_config_accepts_zero_joints_for_rigid_assets() -> None:
+    """Rigid-object benchmarks should represent their zero-joint workload accurately."""
+    config = MethodBenchmarkRunnerConfig(num_joints=0)
+
+    assert config.num_joints == 0
+
+
 def _runner(*, num_iterations: int = 3, warmup_steps: int = 0) -> MethodBenchmarkRunner:
     runner = object.__new__(MethodBenchmarkRunner)
     runner._config = MethodBenchmarkRunnerConfig(