changelogs

Author: AntoineRichard

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "2.1.1"
+version = "2.1.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,30 @@
 Changelog
 ---------
 
+2.1.2 (2026-01-30)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :mod:`isaaclab.test.benchmark` module providing a comprehensive benchmarking framework
+  for measuring performance of Isaac Lab components. Includes:
+
+  * :class:`BenchmarkConfig`: Configuration dataclass for benchmark execution parameters
+    (iterations, warmup steps, instances, device).
+  * :class:`BenchmarkResult`: Dataclass capturing timing statistics (mean, std in microseconds),
+    skip status, and dependency information.
+  * :class:`MethodBenchmark`: Definition class for methods to benchmark with multi-mode
+    input generators.
+  * Input generator helpers for creating standardized tensors and Warp masks:
+    ``make_tensor_env_ids``, ``make_tensor_joint_ids``, ``make_tensor_body_ids``,
+    ``make_warp_env_mask``, ``make_warp_joint_mask``, ``make_warp_body_mask``.
+  * :func:`benchmark_method`: Core function for benchmarking with warmup phases,
+    GPU synchronization, and graceful error handling.
+  * I/O utilities: :func:`get_hardware_info`, :func:`get_git_info`, :func:`print_hardware_info`,
+    :func:`print_results`, :func:`export_results_json`, :func:`export_results_csv`.
+
+
 2.1.1 (2026-02-03)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_physx/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.1.2"
+version = "0.1.3"
 
 # Description
 title = "PhysX simulation interfaces for IsaacLab core package"

source/isaaclab_physx/docs/CHANGELOG.rst

@@ -1,6 +1,36 @@
 Changelog
 ---------
 
+0.1.3 (2026-02-03)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :mod:`isaaclab_physx.benchmark` module containing performance micro-benchmarks for
+  PhysX asset classes. Includes:
+
+  * ``benchmark_articulation.py``: Benchmarks for setter/writer methods on
+    :class:`~isaaclab_physx.assets.Articulation` including root state, joint state,
+    joint parameters, and body property operations.
+  * ``benchmark_articulation_data.py``: Benchmarks for property accessors on
+    :class:`~isaaclab_physx.assets.ArticulationData` covering root link/COM properties,
+    joint properties, and body link/COM properties.
+  * ``benchmark_rigid_object.py``: Benchmarks for setter/writer methods on
+    :class:`~isaaclab_physx.assets.RigidObject` including root state and body property operations.
+  * ``benchmark_rigid_object_data.py``: Benchmarks for property accessors on
+    :class:`~isaaclab_physx.assets.RigidObjectData`.
+  * ``benchmark_rigid_object_collection.py``: Benchmarks for setter/writer methods on
+    :class:`~isaaclab_physx.assets.RigidObjectCollection` including body state, pose,
+    velocity, and property operations.
+  * ``benchmark_rigid_object_collection_data.py``: Benchmarks for property accessors on
+    :class:`~isaaclab_physx.assets.RigidObjectCollectionData`.
+
+  All benchmarks support configurable iterations, warmup steps, instance counts, multiple
+  input modes (torch list, torch tensor), and output to JSON/CSV formats with hardware
+  information capture.
+
+
 0.1.2 (2026-02-03)
 ~~~~~~~~~~~~~~~~~~~