Updates benchmarking scripts for Isaac Sim 4.5 and hydra (isaac-sim#143)

# Description

This change updates the benchmarking utilities to follow new module
naming for Isaac Sim 4.5. In addition, hydra support is added for the
benchmark scripts to allow modifications of config parameters via
command line. Hydra config parsing utilities are updated to allow for
missing agent configurations when benchmarking non-RL workflows.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py

@@ -39,10 +39,12 @@ def register_task_to_hydra(
     """
     # load the configurations
     env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
-    agent_cfg = load_cfg_from_registry(task_name, agent_cfg_entry_point)
+    agent_cfg = None
+    if agent_cfg_entry_point:
+        agent_cfg = load_cfg_from_registry(task_name, agent_cfg_entry_point)
     # convert the configs to dictionary
     env_cfg_dict = env_cfg.to_dict()
-    if isinstance(agent_cfg, dict):
+    if isinstance(agent_cfg, dict) or agent_cfg is None:
         agent_cfg_dict = agent_cfg
     else:
         agent_cfg_dict = agent_cfg.to_dict()
@@ -83,7 +85,7 @@ def hydra_main(hydra_env_cfg: DictConfig, env_cfg=env_cfg, agent_cfg=agent_cfg):
                 hydra_env_cfg = replace_strings_with_slices(hydra_env_cfg)
                 # update the configs with the Hydra command line arguments
                 env_cfg.from_dict(hydra_env_cfg["env"])
-                if isinstance(agent_cfg, dict):
+                if isinstance(agent_cfg, dict) or agent_cfg is None:
                     agent_cfg = hydra_env_cfg["agent"]
                 else:
                     agent_cfg.from_dict(hydra_env_cfg["agent"])

source/standalone/benchmarks/benchmark_non_rl.py

@@ -8,6 +8,7 @@
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import sys
 import time
 
 from omni.isaac.lab.app import AppLauncher
@@ -17,9 +18,6 @@
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
 parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
-parser.add_argument(
-    "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
-)
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment")
@@ -38,11 +36,14 @@
 # append AppLauncher cli args
 AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
-args_cli, _ = parser.parse_known_args()
+args_cli, hydra_args = parser.parse_known_args()
 # always enable cameras to record video
 if args_cli.video:
     args_cli.enable_cameras = True
 
+# clear out sys.argv for Hydra
+sys.argv = [sys.argv[0]] + hydra_args
+
 app_start_time_begin = time.perf_counter_ns()
 
 # launch omniverse app
@@ -78,10 +79,11 @@
 import torch
 from datetime import datetime
 
+from omni.isaac.lab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from omni.isaac.lab.utils.dict import print_dict
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils import parse_env_cfg
+from omni.isaac.lab_tasks.utils.hydra import hydra_task_config
 
 imports_time_end = time.perf_counter_ns()
 
@@ -101,13 +103,13 @@
 )
 
 
-def main():
-    """Train with RL-Games agent."""
+@hydra_task_config(args_cli.task, None)
+def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: dict):
+    """Benchmark without RL in the loop."""
 
-    # parse configuration
-    env_cfg = parse_env_cfg(
-        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
-    )
+    # override configurations with non-hydra CLI arguments
+    env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
+    env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
 
     # process distributed
     world_size = 1

source/standalone/benchmarks/benchmark_rlgames.py

@@ -8,6 +8,7 @@
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import sys
 import time
 
 from omni.isaac.lab.app import AppLauncher
@@ -17,9 +18,6 @@
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
 parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
-parser.add_argument(
-    "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
-)
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment")
@@ -38,11 +36,14 @@
 # append AppLauncher cli args
 AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
-args_cli, _ = parser.parse_known_args()
+args_cli, hydra_args = parser.parse_known_args()
 # always enable cameras to record video
 if args_cli.video:
     args_cli.enable_cameras = True
 
+# clear out sys.argv for Hydra
+sys.argv = [sys.argv[0]] + hydra_args
+
 app_start_time_begin = time.perf_counter_ns()
 
 # launch omniverse app
@@ -64,18 +65,20 @@
 import gymnasium as gym
 import math
 import os
+import random
 import torch
 from datetime import datetime
 
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.algo_observer import IsaacAlgoObserver
 from rl_games.torch_runner import Runner
 
+from omni.isaac.lab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from omni.isaac.lab.utils.dict import print_dict
 from omni.isaac.lab.utils.io import dump_pickle, dump_yaml
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils import load_cfg_from_registry, parse_env_cfg
+from omni.isaac.lab_tasks.utils.hydra import hydra_task_config
 from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
 imports_time_end = time.perf_counter_ns()
@@ -115,17 +118,18 @@
 )
 
 
-def main():
+@hydra_task_config(args_cli.task, "rl_games_cfg_entry_point")
+def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: dict):
     """Train with RL-Games agent."""
-    # parse seed from command line
-    args_cli_seed = args_cli.seed
 
-    # parse configuration
-    env_cfg = parse_env_cfg(
-        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
-    )
+    # override configurations with non-hydra CLI arguments
+    env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
+    env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
 
-    agent_cfg = load_cfg_from_registry(args_cli.task, "rl_games_cfg_entry_point")
+    # randomly sample a seed if seed = -1
+    if args_cli.seed == -1:
+        args_cli.seed = random.randint(0, 10000)
+    agent_cfg["params"]["seed"] = args_cli.seed if args_cli.seed is not None else agent_cfg["params"]["seed"]
 
     # process distributed
     world_rank = 0
@@ -134,10 +138,6 @@ def main():
         agent_cfg.device = f"cuda:{app_launcher.local_rank}"
         world_rank = app_launcher.global_rank
 
-    # override from command line
-    if args_cli_seed is not None:
-        agent_cfg["params"]["seed"] = args_cli_seed
-
     # specify directory for logging experiments
     log_root_path = os.path.join("logs", "rl_games", agent_cfg["params"]["config"]["name"])
     log_root_path = os.path.abspath(log_root_path)

source/standalone/benchmarks/benchmark_rsl_rl.py

@@ -13,6 +13,7 @@
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import sys
 import time
 
 from omni.isaac.lab.app import AppLauncher
@@ -24,9 +25,6 @@
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
 parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
-parser.add_argument(
-    "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
-)
 parser.add_argument("--num_envs", type=int, default=4096, help="Number of environments to simulate.")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--seed", type=int, default=42, help="Seed used for the environment")
@@ -44,7 +42,14 @@
 # append AppLauncher cli args
 AppLauncher.add_app_launcher_args(parser)
 # to ensure kit args don't break the benchmark arg parsing
-args_cli, _ = parser.parse_known_args()
+args_cli, hydra_args = parser.parse_known_args()
+
+# always enable cameras to record video
+if args_cli.video:
+    args_cli.enable_cameras = True
+
+# clear out sys.argv for Hydra
+sys.argv = [sys.argv[0]] + hydra_args
 
 app_start_time_begin = time.perf_counter_ns()
 
@@ -64,12 +69,13 @@
 
 from rsl_rl.runners import OnPolicyRunner
 
-from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
+from omni.isaac.lab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from omni.isaac.lab.utils.dict import print_dict
 from omni.isaac.lab.utils.io import dump_pickle, dump_yaml
 
 import omni.isaac.lab_tasks  # noqa: F401
-from omni.isaac.lab_tasks.utils import get_checkpoint_path, parse_env_cfg
+from omni.isaac.lab_tasks.utils import get_checkpoint_path
+from omni.isaac.lab_tasks.utils.hydra import hydra_task_config
 from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
 imports_time_end = time.perf_counter_ns()
@@ -113,14 +119,13 @@
 )
 
 
-def main():
+@hydra_task_config(args_cli.task, "rsl_rl_cfg_entry_point")
+def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: RslRlOnPolicyRunnerCfg):
     """Train with RSL-RL agent."""
     # parse configuration
     benchmark.set_phase("loading", start_recording_frametime=False, start_recording_runtime=True)
-    env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(
-        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
-    )
-    agent_cfg: RslRlOnPolicyRunnerCfg = cli_args.parse_rsl_rl_cfg(args_cli.task, args_cli)
+    agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli)
+    env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
 
     # specify directory for logging experiments
     log_root_path = os.path.join("logs", "rsl_rl", agent_cfg.experiment_name)

source/standalone/benchmarks/utils.py

@@ -7,8 +7,8 @@
 import glob
 import os
 
-from omni.isaac.benchmark.services import BaseIsaacBenchmark
-from omni.isaac.benchmark.services.metrics.measurements import DictMeasurement, ListMeasurement, SingleMeasurement
+from isaacsim.benchmark.services import BaseIsaacBenchmark
+from isaacsim.benchmark.services.metrics.measurements import DictMeasurement, ListMeasurement, SingleMeasurement
 from tensorboard.backend.event_processing import event_accumulator