API#

Python API#

BaseIsaacBenchmarkAsync

BaseIsaacBenchmark

Front-end for benchmarking standalone scripts and other non-async snippets.

class BaseIsaacBenchmarkAsync(*args: Any, **kwargs: Any)#

Bases: AsyncTestCase

async fully_load_stage(usd_path)#

Await this function to open a stage and then wait for it to fully load

Parameters:

usd_path (str) – Path to USD stage.

async setUp(backend_type: str = 'JSONFileMetrics')#

Must be awaited by derived benchmarks to properly set up the benchmark

set_phase(
phase: str,
start_recording_frametime: bool = True,
start_recording_runtime: bool = True,
) → None#

Sets benchmarking phase. Turns on frametime and runtime collection.

Parameters:

  • phase (str) – Name of phase, used in output.

  • start_recording_frametime (bool) – False to not start recording frametime at start of phase. Default True.

  • start_recording_runtime (bool) – False to not start recording runtime at start of phase. Default True.

async store_custom_measurement(
phase_name: str,
custom_measurement: <module 'isaacsim.benchmark.services.metrics.measurements' from '/builds/omniverse/isaac/omni_isaac_sim/_build/linux-x86_64/release/exts/isaacsim.benchmark.services/isaacsim/benchmark/services/metrics/measurements.py'>,
) → None#

Stores the custom measurement specificed in the benchmark.

Parameters:

  • phase (str) – The phase name to which the measurement belongs.

  • measurement (Measurement) – The measurement object to store.

async store_measurements(
stop_recording_time: bool = True,
) → None#

Stores measurements, metadata, and artifacts collected by all recorders during the previous phase. Optionally, ends frametime and runtime collection.

Parameters:

stop_recording_time (bool) – False to not stop recording runtime and frametime at end of phase. Default True.

async tearDown()#

Must be awaited by derived benchmarks to properly tear down the benchmark

class BaseIsaacBenchmark(
benchmark_name: str = 'BaseIsaacBenchmark',
backend_type: str = 'OmniPerfKPIFile',
report_generation: bool = True,
workflow_metadata: dict = {},
gpu_frametime: bool = False,
)#

Bases: object

Front-end for benchmarking standalone scripts and other non-async snippets.

By default this class will collect hardware performance data (see recorders), broken up by “phase”. Typical structure looks like:

benchmark = BaseIsaacBenchmark(benchmark_name=..., workflow_metadata=...)
benchmark.set_phase("loading")
# load stage, configure sim, etc.
benchmark.store_measurements()
benchmark.set_phase("benchmark")
# Actual code being benchmarked (running the sim for N frames, cloning an object, etc.)
benchmark.store_measurements()
benchmark.stop() # Shuts down benchmark, writes metrics to file

You can set any number of phases.

fully_load_stage(usd_path: str) → None#

Loads provided USD stage, blocking execution until it is fully loaded.

Parameters:

usd_path (str) – Path to USD stage.

set_phase(
phase: str,
start_recording_frametime: bool = True,
start_recording_runtime: bool = True,
) → None#

Sets benchmarking phase. Turns on frametime and runtime collection.

Parameters:

  • phase (str) – Name of phase, used in output.

  • start_recording_frametime (bool) – False to not start recording frametime at start of phase. Default True.

  • start_recording_runtime (bool) – False to not start recording runtime at start of phase. Default True.

stop()#

Stop benchmarking and write accumulated metrics to file.

store_custom_measurement(
phase_name: str,
custom_measurement: <module 'isaacsim.benchmark.services.metrics.measurements' from '/builds/omniverse/isaac/omni_isaac_sim/_build/linux-x86_64/release/exts/isaacsim.benchmark.services/isaacsim/benchmark/services/metrics/measurements.py'>,
) → None#

Stores the custom measurement specificed in the benchmark.

Parameters:

  • phase (str) – The phase name to which the measurement belongs.

  • measurement (Measurement) – The measurement object to store.

store_measurements(
stop_recording_time: bool = True,
) → None#

Stores measurements, metadata, and artifacts collected by all recorders during the previous phase. Optionally, ends frametime and runtime collection.

Parameters:

stop_recording_time (bool) – False to not stop recording runtime and frametime at end of phase. Default True.