Format OVPhysX asset benchmarks

Apply the repository Ruff format to the newly tracked benchmark scripts and keep fill-ratio selection conditions within the line-length limit.

Author: AntoineRichard

source/isaaclab_ovphysx/benchmark/assets/benchmark_articulation.py

@@ -24,10 +24,8 @@
 
 from __future__ import annotations
 
-
 import argparse
 
-
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Benchmark Articulation methods (OVPhysX backend).")
 parser.add_argument("--num_iterations", type=int, default=1000, help="Number of iterations")
@@ -44,11 +42,9 @@
 args = parser.parse_args()
 
 
-
 import logging
 import warnings
 
-import numpy as np
 import torch
 import warp as wp
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet
@@ -1137,7 +1133,12 @@ def generator(config):
                 inputs[key] = (
                     torch.randperm(config.num_instances, device=config.device)[:n].sort().values.to(torch.int32)
                 )
-            elif key not in {"joint_ids", "body_ids"} and isinstance(val, torch.Tensor) and val.dim() >= 1 and val.shape[0] == config.num_instances:
+            elif (
+                key not in {"joint_ids", "body_ids"}
+                and isinstance(val, torch.Tensor)
+                and val.dim() >= 1
+                and val.shape[0] == config.num_instances
+            ):
                 inputs[key] = val[:n]
             else:
                 inputs[key] = val
@@ -1207,7 +1208,7 @@ def main():
         mode=args.mode,
     )
 
-        # Create the test articulation
+    # Create the test articulation
     articulation, _ = create_test_articulation(
         num_instances=config.num_instances,
         num_bodies=config.num_bodies,

source/isaaclab_ovphysx/benchmark/assets/benchmark_articulation_data.py

@@ -19,10 +19,8 @@
 
 from __future__ import annotations
 
-
 import argparse
 
-
 # add argparse arguments
 parser = argparse.ArgumentParser(
     description="Micro-benchmarking framework for ArticulationData class (OVPhysX backend).",
@@ -40,7 +38,6 @@
 args = parser.parse_args()
 
 
-
 import warnings
 
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet, MockOvPhysxView

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object.py

@@ -24,10 +24,8 @@
 
 from __future__ import annotations
 
-
 import argparse
 
-
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Benchmark RigidObject methods (OVPhysX backend).")
 parser.add_argument("--num_iterations", type=int, default=1000, help="Number of iterations")
@@ -43,11 +41,9 @@
 args = parser.parse_args()
 
 
-
 import logging
 import warnings
 
-import numpy as np
 import torch
 import warp as wp
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet
@@ -477,7 +473,12 @@ def generator(config):
                 inputs[key] = (
                     torch.randperm(config.num_instances, device=config.device)[:n].sort().values.to(torch.int32)
                 )
-            elif key not in {"joint_ids", "body_ids"} and isinstance(val, torch.Tensor) and val.dim() >= 1 and val.shape[0] == config.num_instances:
+            elif (
+                key not in {"joint_ids", "body_ids"}
+                and isinstance(val, torch.Tensor)
+                and val.dim() >= 1
+                and val.shape[0] == config.num_instances
+            ):
                 inputs[key] = val[:n]
             else:
                 inputs[key] = val
@@ -547,7 +548,7 @@ def main():
         mode=args.mode,
     )
 
-        # Create the test rigid object
+    # Create the test rigid object
     rigid_object, _ = create_test_rigid_object(
         num_instances=config.num_instances,
         num_bodies=config.num_bodies,

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object_collection.py

@@ -24,10 +24,8 @@
 
 from __future__ import annotations
 
-
 import argparse
 
-
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Benchmark RigidObjectCollection methods (OVPhysX backend).")
 parser.add_argument("--num_iterations", type=int, default=1000, help="Number of iterations")
@@ -43,11 +41,9 @@
 args = parser.parse_args()
 
 
-
 import logging
 import warnings
 
-import numpy as np
 import torch
 import warp as wp
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet
@@ -90,10 +86,11 @@ def create_test_collection(
     device: str = "cuda:0",
 ):
     """Create a test RigidObjectCollection instance with mocked dependencies."""
-    from isaaclab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
     from isaaclab_ovphysx.assets.rigid_object_collection.rigid_object_collection import RigidObjectCollection
     from isaaclab_ovphysx.assets.rigid_object_collection.rigid_object_collection_data import RigidObjectCollectionData
 
+    from isaaclab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
+
     object_names = [f"object_{i}" for i in range(num_bodies)]
     binding_set = MockOvPhysxBindingSet(
         num_instances=num_instances,
@@ -501,7 +498,12 @@ def generator(config):
                 inputs[key] = (
                     torch.randperm(config.num_instances, device=config.device)[:n].sort().values.to(torch.int32)
                 )
-            elif key not in {"joint_ids", "body_ids"} and isinstance(val, torch.Tensor) and val.dim() >= 1 and val.shape[0] == config.num_instances:
+            elif (
+                key not in {"joint_ids", "body_ids"}
+                and isinstance(val, torch.Tensor)
+                and val.dim() >= 1
+                and val.shape[0] == config.num_instances
+            ):
                 inputs[key] = val[:n]
             else:
                 inputs[key] = val
@@ -571,7 +573,7 @@ def main():
         mode=args.mode,
     )
 
-        # Create the test collection
+    # Create the test collection
     collection, _ = create_test_collection(
         num_instances=config.num_instances,
         num_bodies=config.num_bodies,

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object_collection_data.py

@@ -19,10 +19,8 @@
 
 from __future__ import annotations
 
-
 import argparse
 
-
 # add argparse arguments
 parser = argparse.ArgumentParser(
     description="Micro-benchmarking framework for RigidObjectCollectionData class (OVPhysX backend).",
@@ -39,7 +37,6 @@
 args = parser.parse_args()
 
 
-
 import warnings
 
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet, MockOvPhysxView

source/isaaclab_ovphysx/benchmark/assets/benchmark_rigid_object_data.py

@@ -19,10 +19,8 @@
 
 from __future__ import annotations
 
-
 import argparse
 
-
 # add argparse arguments
 parser = argparse.ArgumentParser(
     description="Micro-benchmarking framework for RigidObjectData class (OVPhysX backend).",
@@ -38,7 +36,6 @@
 args = parser.parse_args()
 
 
-
 import warnings
 
 from isaaclab_ovphysx.test.mock_interfaces import MockOvPhysxBindingSet, MockOvPhysxView