pre-commits

Author: AntoineRichard

source/isaaclab/isaaclab/test/benchmark/__init__.py

@@ -1,3 +1,8 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 """ Benchmarking utilities for IsaacLab.
 
 This package provides benchmarking utilities used across different test modules.
@@ -43,4 +48,4 @@
     "print_hardware_info",
     "print_results",
     "benchmark_method",
-]
+]

source/isaaclab/isaaclab/test/benchmark/benchmark_core.py

@@ -12,11 +12,11 @@
 from __future__ import annotations
 
 import contextlib
-import numpy as np
 import time
 from collections.abc import Callable
 from dataclasses import dataclass
 
+import numpy as np
 import warp as wp
 
 

source/isaaclab/isaaclab/test/benchmark/benchmark_io.py

@@ -17,14 +17,14 @@
 
 import contextlib
 import json
-import numpy as np
 import os
 import platform
 import subprocess
-import torch
 from datetime import datetime
 from typing import TYPE_CHECKING
 
+import numpy as np
+import torch
 import warp as wp
 
 if TYPE_CHECKING:
@@ -147,13 +147,15 @@ def get_hardware_info() -> dict:
 
         for i in range(torch.cuda.device_count()):
             gpu_props = torch.cuda.get_device_properties(i)
-            hardware_info["gpu"]["devices"].append({
-                "index": i,
-                "name": gpu_props.name,
-                "total_memory_gb": round(gpu_props.total_memory / (1024**3), 2),
-                "compute_capability": f"{gpu_props.major}.{gpu_props.minor}",
-                "multi_processor_count": gpu_props.multi_processor_count,
-            })
+            hardware_info["gpu"]["devices"].append(
+                {
+                    "index": i,
+                    "name": gpu_props.name,
+                    "total_memory_gb": round(gpu_props.total_memory / (1024**3), 2),
+                    "compute_capability": f"{gpu_props.major}.{gpu_props.minor}",
+                    "multi_processor_count": gpu_props.multi_processor_count,
+                }
+            )
 
         # Current device info
         current_device = torch.cuda.current_device()
@@ -513,30 +515,34 @@ def export_results_csv(results: list[BenchmarkResult], filename: str):
 
     with open(filename, "w", newline="") as csvfile:
         writer = csv.writer(csvfile)
-        writer.writerow([
-            "Name",
-            "Mode",
-            "Mean (µs)",
-            "Std (µs)",
-            "Iterations",
-            "Dependencies",
-            "Skipped",
-            "Skip Reason",
-        ])
+        writer.writerow(
+            [
+                "Name",
+                "Mode",
+                "Mean (µs)",
+                "Std (µs)",
+                "Iterations",
+                "Dependencies",
+                "Skipped",
+                "Skip Reason",
+            ]
+        )
 
         for result in results:
             deps_str = ", ".join(result.dependencies) if result.dependencies else ""
             mode_str = result.mode if result.mode else ""
-            writer.writerow([
-                result.name,
-                mode_str,
-                f"{result.mean_time_us:.4f}" if not result.skipped else "",
-                f"{result.std_time_us:.4f}" if not result.skipped else "",
-                result.num_iterations,
-                deps_str,
-                result.skipped,
-                result.skip_reason,
-            ])
+            writer.writerow(
+                [
+                    result.name,
+                    mode_str,
+                    f"{result.mean_time_us:.4f}" if not result.skipped else "",
+                    f"{result.std_time_us:.4f}" if not result.skipped else "",
+                    result.num_iterations,
+                    deps_str,
+                    result.skipped,
+                    result.skip_reason,
+                ]
+            )
 
     print(f"\nResults exported to {filename}")
 

source/isaaclab_physx/benchmark/assets/benchmark_articulation.py

@@ -12,7 +12,8 @@
 2. **Torch Tensor**: Inputs are PyTorch tensors with tensor indices.
 
 Usage:
-    python benchmark_articulation.py [--num_iterations N] [--warmup_steps W] [--num_instances I] [--num_bodies B] [--num_joints J]
+    python benchmark_articulation.py [--num_iterations N] [--warmup_steps W]
+        [--num_instances I] [--num_bodies B] [--num_joints J]
 
 Example:
     python benchmark_articulation.py --num_iterations 1000 --warmup_steps 10
@@ -39,6 +40,7 @@
 # Mock Setup - Must happen BEFORE importing Articulation
 # =============================================================================
 
+
 class MockPhysicsSimView:
     """Simple mock for the physics simulation view."""
 
@@ -151,7 +153,10 @@ def __init__(self, root_view, device: str):
 
 class ArticulationCfg:
     """Mock ArticulationCfg for testing."""
-    def __init__(self, prim_path: str = "/World/Robot", soft_joint_pos_limit_factor: float = 1.0, actuators: dict = None):
+
+    def __init__(
+        self, prim_path: str = "/World/Robot", soft_joint_pos_limit_factor: float = 1.0, actuators: dict = None
+    ):
         self.prim_path = prim_path
         self.soft_joint_pos_limit_factor = soft_joint_pos_limit_factor
         self.actuators = actuators or {}
@@ -203,8 +208,12 @@ def __iter__(self):
 benchmark_dir = Path(__file__).resolve().parent
 
 # Load ArticulationData
-articulation_data_path = benchmark_dir.parents[1] / "isaaclab_physx" / "assets" / "articulation" / "articulation_data.py"
-spec = importlib.util.spec_from_file_location("isaaclab_physx.assets.articulation.articulation_data", articulation_data_path)
+articulation_data_path = (
+    benchmark_dir.parents[1] / "isaaclab_physx" / "assets" / "articulation" / "articulation_data.py"
+)
+spec = importlib.util.spec_from_file_location(
+    "isaaclab_physx.assets.articulation.articulation_data", articulation_data_path
+)
 articulation_data_module = importlib.util.module_from_spec(spec)
 sys.modules["isaaclab_physx.assets.articulation.articulation_data"] = articulation_data_module
 spec.loader.exec_module(articulation_data_module)
@@ -219,6 +228,9 @@ def __iter__(self):
 Articulation = articulation_module.Articulation
 
 # Import shared utilities from common module
+# Import mock classes from PhysX test utilities
+from isaaclab_physx.test.mock_interfaces.views import MockArticulationView
+
 from isaaclab.test.benchmark import (
     BenchmarkConfig,
     MethodBenchmark,
@@ -234,15 +246,13 @@ def __iter__(self):
     print_results,
 )
 
-# Import mock classes from PhysX test utilities
-from isaaclab_physx.test.mock_interfaces.views import MockArticulationView
-
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 warnings.filterwarnings("ignore", category=UserWarning)
 
 # Also suppress logging warnings (the body_acc_w deprecation warnings use logging)
 import logging
+
 logging.getLogger("isaaclab_physx").setLevel(logging.ERROR)
 logging.getLogger("isaaclab").setLevel(logging.ERROR)
 

source/isaaclab_physx/benchmark/assets/benchmark_articulation_data.py

@@ -10,7 +10,8 @@
 and timing statistics (mean and standard deviation) are reported.
 
 Usage:
-    python benchmark_articulation_data.py [--num_iterations N] [--warmup_steps W] [--num_instances I] [--num_bodies B] [--num_joints J]
+    python benchmark_articulation_data.py [--num_iterations N] [--warmup_steps W]
+        [--num_instances I] [--num_bodies B] [--num_joints J]
 
 Example:
     python benchmark_articulation_data.py --num_iterations 10000 --warmup_steps 10
@@ -34,6 +35,7 @@
 # Mock Setup - Must happen BEFORE importing ArticulationData
 # =============================================================================
 
+
 class MockPhysicsSimView:
     """Simple mock for the physics simulation view."""
 
@@ -78,6 +80,7 @@ def __init__(self, root_view, device: str):
 
 # Mock pxr (USD library - not available in headless docker, used by isaaclab.utils.mesh)
 from unittest.mock import MagicMock
+
 sys.modules["pxr"] = MagicMock()
 sys.modules["pxr.Usd"] = MagicMock()
 sys.modules["pxr.UsdGeom"] = MagicMock()
@@ -87,20 +90,27 @@ def __init__(self, root_view, device: str):
 from pathlib import Path
 
 benchmark_dir = Path(__file__).resolve().parent
-articulation_data_path = benchmark_dir.parents[1] / "isaaclab_physx" / "assets" / "articulation" / "articulation_data.py"
+articulation_data_path = (
+    benchmark_dir.parents[1] / "isaaclab_physx" / "assets" / "articulation" / "articulation_data.py"
+)
 
 spec = importlib.util.spec_from_file_location(
-    "isaaclab_physx.assets.articulation.articulation_data",
-    articulation_data_path
+    "isaaclab_physx.assets.articulation.articulation_data", articulation_data_path
 )
 articulation_data_module = importlib.util.module_from_spec(spec)
 sys.modules["isaaclab_physx.assets.articulation.articulation_data"] = articulation_data_module
 spec.loader.exec_module(articulation_data_module)
 ArticulationData = articulation_data_module.ArticulationData
 
 # Import shared utilities from common module
-from isaaclab.test.benchmark import BenchmarkConfig, BenchmarkResult, MethodBenchmark, benchmark_method
+# Import mock classes from PhysX test utilities
+from isaaclab_physx.test.mock_interfaces.views import MockArticulationView
+
 from isaaclab.test.benchmark import (
+    BenchmarkConfig,
+    BenchmarkResult,
+    MethodBenchmark,
+    benchmark_method,
     export_results_csv,
     export_results_json,
     get_default_output_filename,
@@ -109,9 +119,6 @@ def __init__(self, root_view, device: str):
     print_results,
 )
 
-# Import mock classes from PhysX test utilities
-from isaaclab_physx.test.mock_interfaces.views import MockArticulationView
-
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 warnings.filterwarnings("ignore", category=UserWarning)
@@ -257,6 +264,7 @@ def __init__(self, root_view, device: str):
 # Benchmark Functions
 # =============================================================================
 
+
 def get_benchmarkable_properties(articulation_data: ArticulationData) -> list[str]:
     """Get list of properties that can be benchmarked."""
     all_properties = []
@@ -340,6 +348,7 @@ def gen_mock_data(cfg: BenchmarkConfig) -> dict:
     print("-" * 80)
 
     for i, benchmark in enumerate(benchmarks):
+
         def prop_accessor(prop=benchmark.method_name, **kwargs):
             return getattr(articulation_data, prop)
 

source/isaaclab_physx/benchmark/assets/benchmark_rigid_object.py

@@ -39,6 +39,7 @@
 # Mock Setup - Must happen BEFORE importing RigidObject
 # =============================================================================
 
+
 class MockPhysicsSimView:
     """Simple mock for the physics simulation view."""
 
@@ -149,8 +150,12 @@ def __init__(self, root_view, device: str):
 benchmark_dir = Path(__file__).resolve().parent
 
 # Load RigidObjectData
-rigid_object_data_path = benchmark_dir.parents[1] / "isaaclab_physx" / "assets" / "rigid_object" / "rigid_object_data.py"
-spec = importlib.util.spec_from_file_location("isaaclab_physx.assets.rigid_object.rigid_object_data", rigid_object_data_path)
+rigid_object_data_path = (
+    benchmark_dir.parents[1] / "isaaclab_physx" / "assets" / "rigid_object" / "rigid_object_data.py"
+)
+spec = importlib.util.spec_from_file_location(
+    "isaaclab_physx.assets.rigid_object.rigid_object_data", rigid_object_data_path
+)
 rigid_object_data_module = importlib.util.module_from_spec(spec)
 sys.modules["isaaclab_physx.assets.rigid_object.rigid_object_data"] = rigid_object_data_module
 spec.loader.exec_module(rigid_object_data_module)
@@ -164,12 +169,17 @@ def __init__(self, root_view, device: str):
 spec.loader.exec_module(rigid_object_module)
 RigidObject = rigid_object_module.RigidObject
 
+
 # Simple RigidObjectCfg for testing
 class RigidObjectCfg:
     def __init__(self, prim_path: str = "/World/Object"):
         self.prim_path = prim_path
 
+
 # Import shared utilities from common module
+# Import mock classes from PhysX test utilities
+from isaaclab_physx.test.mock_interfaces.views import MockRigidBodyView
+
 from isaaclab.test.benchmark import (
     BenchmarkConfig,
     MethodBenchmark,
@@ -178,21 +188,18 @@ def __init__(self, prim_path: str = "/World/Object"):
     export_results_json,
     get_default_output_filename,
     get_hardware_info,
-    make_tensor_body_ids,
     make_tensor_env_ids,
     print_hardware_info,
     print_results,
 )
 
-# Import mock classes from PhysX test utilities
-from isaaclab_physx.test.mock_interfaces.views import MockRigidBodyView
-
 # Suppress deprecation warnings during benchmarking
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 warnings.filterwarnings("ignore", category=UserWarning)
 
 # Suppress isaaclab logging (deprecation warnings)
 import logging
+
 logging.getLogger("isaaclab_physx").setLevel(logging.ERROR)
 logging.getLogger("isaaclab").setLevel(logging.ERROR)