Normalize OVPhysX asset benchmarks

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(

source/isaaclab_ovphysx/benchmark/assets/benchmark_articulation.py

@@ -35,8 +35,18 @@
 parser.add_argument("--num_joints", type=int, default=11, help="Number of joints")
 parser.add_argument("--mode", type=str, default="all", help="Benchmark mode (all, torch_list, torch_tensor, warp_mask)")
 parser.add_argument("--device", type=str, default="cuda:0", help="Device for tensors")
-parser.add_argument("--output_dir", type=str, default=".", help="Output directory for results")
-parser.add_argument("--backend", type=str, default="json", choices=["json", "osmo", "omniperf"], help="Metrics backend")
+parser.add_argument(
+    "--output_path", "--output_dir", dest="output_path", type=str, default=".", help="Output directory for results"
+)
+parser.add_argument(
+    "--benchmark_formatter",
+    "--backend",
+    dest="benchmark_formatter",
+    type=str,
+    default="json",
+    choices=["json", "osmo", "omniperf", "summary"],
+    help="Metrics formatter",
+)
 parser.add_argument("--no_shape_checks", action="store_true", help="Disable shape/dtype assertions")
 
 args = parser.parse_args()
@@ -50,7 +60,7 @@
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet
 
 from isaaclab.assets.articulation.articulation_cfg import ArticulationCfg
-from isaaclab.test.benchmark import MethodBenchmarkDefinition, MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
+from isaaclab.benchmark import MethodBenchmarkDefinition, MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
 
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -1225,8 +1235,8 @@ def main():
     runner = MethodBenchmarkRunner(
         benchmark_name="ovphysx_articulation_benchmark",
         config=config,
-        backend_type=args.backend,
-        output_path=args.output_dir,
+        backend_type=args.benchmark_formatter,
+        output_path=args.output_path,
         use_recorders=True,
     )
 
@@ -1239,8 +1249,6 @@ def main():
     runner.run_benchmarks(FILL_BENCHMARKS, articulation)
     runner.finalize()
 
-    # Close the simulation app
-
 
 if __name__ == "__main__":
     main()

source/isaaclab_ovphysx/benchmark/assets/benchmark_articulation_data.py

@@ -32,8 +32,18 @@
 parser.add_argument("--num_bodies", type=int, default=12, help="Number of bodies")
 parser.add_argument("--num_joints", type=int, default=11, help="Number of joints")
 parser.add_argument("--device", type=str, default="cuda:0", help="Device for tensors")
-parser.add_argument("--output_dir", type=str, default=".", help="Output directory for results")
-parser.add_argument("--backend", type=str, default="json", choices=["json", "osmo", "omniperf"], help="Metrics backend")
+parser.add_argument(
+    "--output_path", "--output_dir", dest="output_path", type=str, default=".", help="Output directory for results"
+)
+parser.add_argument(
+    "--benchmark_formatter",
+    "--backend",
+    dest="benchmark_formatter",
+    type=str,
+    default="json",
+    choices=["json", "osmo", "omniperf", "summary"],
+    help="Metrics formatter",
+)
 
 args = parser.parse_args()
 
@@ -42,7 +52,7 @@
 
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet, MockOvPhysxView
 
-from isaaclab.test.benchmark import MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
+from isaaclab.benchmark import MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
 
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -161,12 +171,12 @@
 PROPERTY_DEPENDENCIES = {
     "root_link_lin_vel_w": ["root_link_vel_w"],
     "root_link_ang_vel_w": ["root_link_vel_w"],
-    "root_link_lin_vel_b": ["root_link_vel_b"],
-    "root_link_ang_vel_b": ["root_link_vel_b"],
+    "root_link_lin_vel_b": ["root_link_lin_vel_w", "root_link_quat_w"],
+    "root_link_ang_vel_b": ["root_link_ang_vel_w", "root_link_quat_w"],
     "root_com_pos_w": ["root_com_pose_w"],
     "root_com_quat_w": ["root_com_pose_w"],
-    "root_com_lin_vel_b": ["root_com_vel_b"],
-    "root_com_ang_vel_b": ["root_com_vel_b"],
+    "root_com_lin_vel_b": ["root_com_lin_vel_w", "root_link_quat_w"],
+    "root_com_ang_vel_b": ["root_com_ang_vel_w", "root_link_quat_w"],
     "root_com_lin_vel_w": ["root_com_vel_w"],
     "root_com_ang_vel_w": ["root_com_vel_w"],
     "root_link_pos_w": ["root_link_pose_w"],
@@ -253,8 +263,8 @@ def gen_mock_data(_cfg: MethodBenchmarkRunnerConfig) -> dict:
     runner = MethodBenchmarkRunner(
         benchmark_name="ovphysx_articulation_data_benchmark",
         config=config,
-        backend_type=args.backend,
-        output_path=args.output_dir,
+        backend_type=args.benchmark_formatter,
+        output_path=args.output_path,
         use_recorders=True,
     )
     runner.run_property_benchmarks(

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object.py

@@ -34,8 +34,18 @@
 parser.add_argument("--num_bodies", type=int, default=1, help="Number of bodies")
 parser.add_argument("--mode", type=str, default="all", help="Benchmark mode (all, torch_list, torch_tensor, warp_mask)")
 parser.add_argument("--device", type=str, default="cuda:0", help="Device for tensors")
-parser.add_argument("--output_dir", type=str, default=".", help="Output directory for results")
-parser.add_argument("--backend", type=str, default="json", choices=["json", "osmo", "omniperf"], help="Metrics backend")
+parser.add_argument(
+    "--output_path", "--output_dir", dest="output_path", type=str, default=".", help="Output directory for results"
+)
+parser.add_argument(
+    "--benchmark_formatter",
+    "--backend",
+    dest="benchmark_formatter",
+    type=str,
+    default="json",
+    choices=["json", "osmo", "omniperf", "summary"],
+    help="Metrics formatter",
+)
 parser.add_argument("--no_shape_checks", action="store_true", help="Disable shape/dtype assertions")
 
 args = parser.parse_args()
@@ -49,7 +59,7 @@
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet
 
 from isaaclab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
-from isaaclab.test.benchmark import MethodBenchmarkDefinition, MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
+from isaaclab.benchmark import MethodBenchmarkDefinition, MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
 
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -561,8 +571,8 @@ def main():
     runner = MethodBenchmarkRunner(
         benchmark_name="ovphysx_rigid_object_benchmark",
         config=config,
-        backend_type=args.backend,
-        output_path=args.output_dir,
+        backend_type=args.benchmark_formatter,
+        output_path=args.output_path,
         use_recorders=True,
     )
 
@@ -575,8 +585,6 @@ def main():
     runner.run_benchmarks(FILL_BENCHMARKS, rigid_object)
     runner.finalize()
 
-    # Close the simulation app
-
 
 if __name__ == "__main__":
     main()

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object_collection.py

@@ -34,8 +34,18 @@
 parser.add_argument("--num_bodies", type=int, default=3, help="Number of bodies (object types)")
 parser.add_argument("--mode", type=str, default="all", help="Benchmark mode (all, torch_list, torch_tensor, warp_mask)")
 parser.add_argument("--device", type=str, default="cuda:0", help="Device for tensors")
-parser.add_argument("--output_dir", type=str, default=".", help="Output directory for results")
-parser.add_argument("--backend", type=str, default="json", choices=["json", "osmo", "omniperf"], help="Metrics backend")
+parser.add_argument(
+    "--output_path", "--output_dir", dest="output_path", type=str, default=".", help="Output directory for results"
+)
+parser.add_argument(
+    "--benchmark_formatter",
+    "--backend",
+    dest="benchmark_formatter",
+    type=str,
+    default="json",
+    choices=["json", "osmo", "omniperf", "summary"],
+    help="Metrics formatter",
+)
 parser.add_argument("--no_shape_checks", action="store_true", help="Disable shape/dtype assertions")
 
 args = parser.parse_args()
@@ -49,7 +59,7 @@
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet
 
 from isaaclab.assets.rigid_object_collection.rigid_object_collection_cfg import RigidObjectCollectionCfg
-from isaaclab.test.benchmark import MethodBenchmarkDefinition, MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
+from isaaclab.benchmark import MethodBenchmarkDefinition, MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
 
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -589,8 +599,8 @@ def main():
     runner = MethodBenchmarkRunner(
         benchmark_name="ovphysx_rigid_object_collection_benchmark",
         config=config,
-        backend_type=args.backend,
-        output_path=args.output_dir,
+        backend_type=args.benchmark_formatter,
+        output_path=args.output_path,
         use_recorders=True,
     )
 
@@ -603,8 +613,6 @@ def main():
     runner.run_benchmarks(FILL_BENCHMARKS, collection)
     runner.finalize()
 
-    # Close the simulation app
-
 
 if __name__ == "__main__":
     main()

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object_collection_data.py

@@ -31,8 +31,18 @@
 parser.add_argument("--num_instances", type=int, default=4096, help="Number of instances")
 parser.add_argument("--num_bodies", type=int, default=3, help="Number of bodies (object types)")
 parser.add_argument("--device", type=str, default="cuda:0", help="Device for tensors")
-parser.add_argument("--output_dir", type=str, default=".", help="Output directory for results")
-parser.add_argument("--backend", type=str, default="json", choices=["json", "osmo", "omniperf"], help="Metrics backend")
+parser.add_argument(
+    "--output_path", "--output_dir", dest="output_path", type=str, default=".", help="Output directory for results"
+)
+parser.add_argument(
+    "--benchmark_formatter",
+    "--backend",
+    dest="benchmark_formatter",
+    type=str,
+    default="json",
+    choices=["json", "osmo", "omniperf", "summary"],
+    help="Metrics formatter",
+)
 
 args = parser.parse_args()
 
@@ -41,7 +51,7 @@
 
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet, MockOvPhysxView
 
-from isaaclab.test.benchmark import MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
+from isaaclab.benchmark import MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
 
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -172,8 +182,8 @@ def gen_mock_data(_cfg: MethodBenchmarkRunnerConfig) -> dict:
     runner = MethodBenchmarkRunner(
         benchmark_name="ovphysx_rigid_object_collection_data_benchmark",
         config=config,
-        backend_type=args.backend,
-        output_path=args.output_dir,
+        backend_type=args.benchmark_formatter,
+        output_path=args.output_path,
         use_recorders=True,
     )
     runner.run_property_benchmarks(

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object_data.py

@@ -30,8 +30,18 @@
 parser.add_argument("--warmup_steps", type=int, default=10, help="Number of warmup steps")
 parser.add_argument("--num_instances", type=int, default=4096, help="Number of instances")
 parser.add_argument("--device", type=str, default="cuda:0", help="Device for tensors")
-parser.add_argument("--output_dir", type=str, default=".", help="Output directory for results")
-parser.add_argument("--backend", type=str, default="json", choices=["json", "osmo", "omniperf"], help="Metrics backend")
+parser.add_argument(
+    "--output_path", "--output_dir", dest="output_path", type=str, default=".", help="Output directory for results"
+)
+parser.add_argument(
+    "--benchmark_formatter",
+    "--backend",
+    dest="benchmark_formatter",
+    type=str,
+    default="json",
+    choices=["json", "osmo", "omniperf", "summary"],
+    help="Metrics formatter",
+)
 
 args = parser.parse_args()
 
@@ -40,7 +50,7 @@
 
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet, MockOvPhysxView
 
-from isaaclab.test.benchmark import MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
+from isaaclab.benchmark import MethodBenchmarkRunner, MethodBenchmarkRunnerConfig
 
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -111,12 +121,12 @@
 PROPERTY_DEPENDENCIES = {
     "root_link_lin_vel_w": ["root_link_vel_w"],
     "root_link_ang_vel_w": ["root_link_vel_w"],
-    "root_link_lin_vel_b": ["root_link_vel_b"],
-    "root_link_ang_vel_b": ["root_link_vel_b"],
+    "root_link_lin_vel_b": ["root_link_lin_vel_w", "root_link_quat_w"],
+    "root_link_ang_vel_b": ["root_link_ang_vel_w", "root_link_quat_w"],
     "root_com_pos_w": ["root_com_pose_w"],
     "root_com_quat_w": ["root_com_pose_w"],
-    "root_com_lin_vel_b": ["root_com_vel_b"],
-    "root_com_ang_vel_b": ["root_com_vel_b"],
+    "root_com_lin_vel_b": ["root_com_lin_vel_w", "root_link_quat_w"],
+    "root_com_ang_vel_b": ["root_com_ang_vel_w", "root_link_quat_w"],
     "root_com_lin_vel_w": ["root_com_vel_w"],
     "root_com_ang_vel_w": ["root_com_vel_w"],
     "root_link_pos_w": ["root_link_pose_w"],
@@ -202,8 +212,8 @@ def gen_mock_data(_cfg: MethodBenchmarkRunnerConfig) -> dict:
     runner = MethodBenchmarkRunner(
         benchmark_name="ovphysx_rigid_object_data_benchmark",
         config=config,
-        backend_type=args.backend,
-        output_path=args.output_dir,
+        backend_type=args.benchmark_formatter,
+        output_path=args.output_path,
         use_recorders=True,
     )
     runner.run_property_benchmarks(