[MISC] Update Most Recent Omniverse/ManiSkill Benchmark Scripts

README.md

@@ -27,25 +27,22 @@ While gs-madrona currently depends on Genesis, we plan to decouple it in the nea
 - CUDA kernel caching with dirty-check rebuild
 - Fixed vertex normal computation in the ray tracer
 - Benchmark scripts comparing Madrona with other batch renderers, including IsaacLab and ManiSkill
+- Support for normal and semantic/instance segmentation output
+- Per-camera dynamic FOV, near/far plane control
+- Light color specification and attenuation based on distance and angle
 
 ## Removed Features
 - Legacy depth-only rendering via color buffer
 - Batch rendering pipeline based on JAX
 
 ## Known Limitations
-- Only color and depth outputs are currently supported
 - Shadows are only cast from the first light with `castshadow=true`
 - When rendering multiple cameras with different resolutions, the first camera’s resolution is used for the entire batch
 
 ## Roadmap / Future Plans
 **gs-madrona** will continue evolving to support higher-quality rendering and broader functionality. Upcoming features include:
 - Batch rendering support for cameras with varying resolutions
-- Normal buffer and semantic/instance segmentation output
-- Per-camera dynamic FOV control
-- Camera-specific near/far plane configuration
-- Light color specification
 - Dynamic light parameters (position, direction, intensity, color, enable/disable)
-- Light attenuation based on distance and angle
 - Ambient lighting control (color and intensity)
 - PBR material and texture support
 - Output rendering results to video files

scripts/perf_benchmark/README.md

@@ -29,21 +29,32 @@ perf_benchmark/
 │   ├── benchmark_config_smoke_test.yml # Quick test configuration
 │   ├── benchmark_config_madrona.yml    # Madrona-specific config
 │   ├── benchmark_config_omni.yml       # Omniverse-specific config
+│   ├── benchmark_config_maniskill.yml  # ManiSkill-specific config
 │   └── benchmark_config_full.yml       # Comprehensive test config
 ```
 
 ## Quick Start
 
 
 ### 1. Optional steps
-IsaacLab and Maniskill needs to be installed if they need to be benchmarked.
-
-Install IsaacLab
--  Download and install IsaacLab from https://developer.nvidia.com/isaac-sim
--  Add IsaacLab to your PATH:
-
-Install Maniskill
--  Install ManiSkill2 following the [official instructions](https://github.com/haosulab/ManiSkill2)
+To enable benchmarking with IsaacLab and ManiSkill, follow these optional setup steps:
+
+- Install IsaacLab
+    - Download and install IsaacLab from [NVIDIA IsaacLab Documentation](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
+    - Add the IsaacLab installation directory to your system `PATH`.
+- Install ManiSkill
+    - Install ManiSkill2 by following [ManiSkill Documentation](https://maniskill.readthedocs.io/en/latest/user_guide/).
+- Set Environment Variables
+    - Both IsaacLab and ManiSkill use the `ASSET_DIR` environment variable to locate the Genesis assets directory.
+    - Use `genesis.utils.misc.asset_dir()` in Genesis to retrieve the exact directory path and then set the environment variable:
+    ```
+    export ASSET_DIR=/path/to/genesis/asset_dir
+    ```
+- Preprocess Required Assets
+    - IsaacLab benchmarks require MJCF assets to be preprocessed for compatibility with Omniverse.
+    ```bash
+    python process_xml.py --file ./configs/benchmark_config_omni.yml
+    ```
 
 ### 2. Run a Quick Smoke Test
 
@@ -63,12 +74,6 @@ python batch_benchmark.py -f benchmark_config_full.yml
 python batch_benchmark.py -f benchmark_config_full.yml -c /name/of/previous/run/folder
 ```
 
-### 5. Preprocess MUJUCO XML Assets to make it compatible with Omniverse (if needed)
-
-```bash
-python process_xml.py --file ./genesis/assets/xml/franka_emika_panda/panda.xml
-```
-
 ## Configuration Files
 
 Configuration files are YAML-based and define the test parameters. Here's an example structure:

scripts/perf_benchmark/batch_benchmark.py

@@ -225,6 +225,21 @@ def create_benchmark_result_file(continue_from):
         return benchmark_result_file
 
 
+def write_benchmark_result_file(args: BenchmarkArgs, performance_results: dict):
+    os.makedirs(os.path.dirname(args.benchmark_result_file), exist_ok=True)
+    with open(args.benchmark_result_file, "a") as f:
+        f.write(
+            f"succeeded,{args.mjcf},{args.renderer},"
+            f"{args.rasterizer},{args.n_envs},{args.n_steps},"
+            f"{args.resX},{args.resY},"
+            f"{args.camera_posX},{args.camera_posY},{args.camera_posZ},"
+            f"{args.camera_lookatX},{args.camera_lookatY},{args.camera_lookatZ},"
+            f"{args.camera_fov},"
+            f"{performance_results['time_taken_gpu']},{performance_results['time_taken_per_env_gpu']},{performance_results['time_taken_cpu']},"
+            f"{performance_results['time_taken_per_env_cpu']},{performance_results['fps']},{performance_results['fps_per_env']}\n"
+        )
+
+
 def get_previous_runs(continue_from_file):
     if continue_from_file is None:
         return []

scripts/perf_benchmark/benchmark_assets/plane_urdf/plane.mtl

@@ -0,0 +1,14 @@
+newmtl Material
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 1.0000 1.0000 1.0000
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka cube.tga
+  map_Kd checker.png
+

scripts/perf_benchmark/benchmark_assets/plane_urdf/plane.urdf

@@ -0,0 +1,26 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane100.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="200 200 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

scripts/perf_benchmark/benchmark_assets/plane_urdf/plane100.obj

@@ -0,0 +1,22 @@
+# Blender v2.66 (sub 1) OBJ File: ''
+# www.blender.org
+mtllib plane.mtl
+o Plane
+v 100.000000 -100.000000 0.000000
+v 100.000000 100.000000 0.000000
+v -100.000000 100.000000 0.000000
+v -100.000000  -100.000000 0.000000
+
+vt 100.000000 0.000000
+vt 100.000000 100.000000
+vt 0.000000 100.000000
+vt 0.000000 0.000000
+
+
+
+usemtl Material
+s off
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
+
+

scripts/perf_benchmark/benchmark_assets/plane_usd/.asset_hash

@@ -0,0 +1 @@
+b3f970c53c90c6563970b4d47b8e0bab

scripts/perf_benchmark/benchmark_assets/plane_usd/config.yaml

@@ -0,0 +1,18 @@
+asset_path: genesis/assets/urdf/plane/plane.urdf
+usd_dir: null
+usd_file_name: null
+force_usd_conversion: true
+make_instanceable: true
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: true
+convert_mimic_joints_to_normal_joints: false
+joint_drive: null
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-06-10 at 18:41:48.
+##

scripts/perf_benchmark/benchmark_madrona.py

@@ -1,8 +1,9 @@
 import os
 
 import genesis as gs
+from genesis.utils.image_exporter import FrameImageExporter
 
-from batch_benchmark import BenchmarkArgs
+from batch_benchmark import BenchmarkArgs, write_benchmark_result_file
 from benchmark_profiler import BenchmarkProfiler
 
 
@@ -64,17 +65,17 @@ def init_gs(benchmark_args):
         pos=(0.0, 0.0, 1.5),
         dir=(1.0, 1.0, -2.0),
         directional=True,
-        castshadow=True,
+        castshadow=False,
         cutoff=45.0,
         intensity=0.5,
     )
     scene.add_light(
         pos=(4, -4, 4),
         dir=(-1, 1, -1),
         directional=False,
-        castshadow=True,
+        castshadow=False,
         cutoff=45.0,
-        intensity=1,
+        intensity=0.5,
     )
     ########################## build ##########################
     scene.build(n_envs=benchmark_args.n_envs)
@@ -88,33 +89,38 @@ def run_benchmark(scene, benchmark_args):
 
         # warmup
         scene.step()
-        rgb, depth, _, _ = scene.render_all_cameras()
+        rgb, depth, _, _ = scene.render_all_cameras(rgb=True, depth=True)
 
         # Profiler
         profiler = BenchmarkProfiler(n_steps, n_envs)
+        output_dir = os.path.dirname(benchmark_args.benchmark_result_file)
+        os.makedirs(output_dir, exist_ok=True)
+        image_dirname = f"{benchmark_args.renderer}-{benchmark_args.rasterizer}-{benchmark_args.n_envs}-{benchmark_args.resX}"
+        image_dir = os.path.join(output_dir, image_dirname)
+        if n_steps < 10:
+            exporter = FrameImageExporter(image_dir)
+
         for i in range(n_steps):
             profiler.on_simulation_start()
             scene.step()
             profiler.on_rendering_start()
-            rgb, depth, _, _ = scene.render_all_cameras()
+            rgb, depth, _, _ = scene.render_all_cameras(rgb=True, depth=True)
             profiler.on_rendering_end()
-
+            if n_steps < 10:
+                exporter.export_frame_all_cameras(i, rgb=rgb)
         profiler.end()
         profiler.print_summary()
 
-        time_taken_gpu = profiler.get_total_rendering_gpu_time()
-        time_taken_cpu = profiler.get_total_rendering_cpu_time()
-        time_taken_per_env_gpu = profiler.get_total_rendering_gpu_time_per_env()
-        time_taken_per_env_cpu = profiler.get_total_rendering_cpu_time_per_env()
-        fps = profiler.get_rendering_fps()
-        fps_per_env = profiler.get_rendering_fps_per_env()
-
-        # Append a line with all args and results in csv format
-        os.makedirs(os.path.dirname(benchmark_args.benchmark_result_file), exist_ok=True)
-        with open(benchmark_args.benchmark_result_file, "a") as f:
-            f.write(
-                f"succeeded,{benchmark_args.mjcf},{benchmark_args.renderer},{benchmark_args.rasterizer},{benchmark_args.n_envs},{benchmark_args.n_steps},{benchmark_args.resX},{benchmark_args.resY},{benchmark_args.camera_posX},{benchmark_args.camera_posY},{benchmark_args.camera_posZ},{benchmark_args.camera_lookatX},{benchmark_args.camera_lookatY},{benchmark_args.camera_lookatZ},{benchmark_args.camera_fov},{time_taken_gpu},{time_taken_per_env_gpu},{time_taken_cpu},{time_taken_per_env_cpu},{fps},{fps_per_env}\n"
-            )
+        performance_results = {
+            "time_taken_gpu": profiler.get_total_rendering_gpu_time(),
+            "time_taken_cpu": profiler.get_total_rendering_cpu_time(),
+            "time_taken_per_env_gpu": profiler.get_total_rendering_gpu_time_per_env(),
+            "time_taken_per_env_cpu": profiler.get_total_rendering_cpu_time_per_env(),
+            "fps": profiler.get_rendering_fps(),
+            "fps_per_env": profiler.get_rendering_fps_per_env(),
+        }
+        write_benchmark_result_file(benchmark_args, performance_results)
+
     except Exception as e:
         print(f"Error during benchmark: {e}")
         raise