Report resolved camera resolutions in benchmark KPIs

source/isaaclab/changelog.d/benchmark-camera-resolutions.rst

@@ -0,0 +1,4 @@
+Added
+^^^^^
+
+* Added resolved camera config paths, image widths, and image heights to benchmark KPI metadata.

source/isaaclab/isaaclab/benchmark/capture.py

@@ -278,6 +278,90 @@ def _backends_from_env_cfg(env_cfg: object) -> tuple[str | None, str | None]:
     return physics, rendering
 
 
+def _is_camera_cfg(node: object) -> bool:
+    """Return whether *node* derives from a supported camera configuration class."""
+    camera_cfg_names = {"CameraCfg", "RayCasterCameraCfg"}
+    return any(base.__name__ in camera_cfg_names for base in type(node).__mro__)
+
+
+def _camera_resolution(node: object) -> tuple[int, int] | None:
+    """Return the resolved ``(width, height)`` for one camera configuration."""
+    width = getattr(node, "width", None)
+    height = getattr(node, "height", None)
+    if not isinstance(width, int) or isinstance(width, bool) or not isinstance(height, int) or isinstance(height, bool):
+        pattern_cfg = getattr(node, "pattern_cfg", None)
+        width = getattr(pattern_cfg, "width", None)
+        height = getattr(pattern_cfg, "height", None)
+    if (
+        not isinstance(width, int)
+        or isinstance(width, bool)
+        or width <= 0
+        or not isinstance(height, int)
+        or isinstance(height, bool)
+        or height <= 0
+    ):
+        return None
+    return width, height
+
+
+def camera_resolutions_from_env_cfg(env_cfg: object) -> dict[str, dict[str, int]]:
+    """Collect resolved image dimensions from camera configurations in an environment config.
+
+    The returned keys are config paths rooted at ``env`` so benchmark results identify the
+    exact camera field that was resolved by Hydra. RTX camera configurations expose dimensions
+    directly, while ray-cast cameras expose them through their pattern configuration.
+
+    Args:
+        env_cfg: Concrete task environment configuration after command-line overrides are applied.
+
+    Returns:
+        Camera config paths mapped to their resolved image width and height in pixels.
+    """
+    resolutions: dict[str, dict[str, int]] = {}
+    stack: list[tuple[str, object]] = [("env", env_cfg)]
+    visited: set[int] = set()
+
+    while stack:
+        path, node = stack.pop()
+        if node is None or isinstance(node, (str, bytes, int, float, bool, type)) or id(node) in visited:
+            continue
+        visited.add(id(node))
+
+        if _is_camera_cfg(node):
+            resolution = _camera_resolution(node)
+            if resolution is not None:
+                width, height = resolution
+                resolutions[path] = {"width": width, "height": height}
+            continue
+
+        if isinstance(node, dict):
+            children = [(f"{path}.{key}", value) for key, value in node.items()]
+        elif isinstance(node, (list, tuple)):
+            children = [(f"{path}[{index}]", value) for index, value in enumerate(node)]
+        else:
+            try:
+                children = [(f"{path}.{name}", value) for name, value in vars(node).items() if not name.startswith("_")]
+            except TypeError:
+                continue
+        stack.extend(reversed(children))
+
+    return dict(sorted(resolutions.items()))
+
+
+def camera_resolution_metadata_from_env_cfg(env_cfg: object) -> list[dict[str, object]]:
+    """Build workflow metadata containing resolved camera resolutions, when present.
+
+    Args:
+        env_cfg: Concrete task environment configuration after command-line overrides are applied.
+
+    Returns:
+        A workflow metadata entry for ``camera_resolutions``, or an empty list when the task has no
+        configured cameras with concrete image dimensions.
+    """
+    resolutions = camera_resolutions_from_env_cfg(env_cfg)
+    return [{"name": "camera_resolutions", "data": resolutions}] if resolutions else []
+
+
 def run_config_from_env_cfg(env_cfg: object) -> RunConfig:
     """Build a :class:`~isaaclab.benchmark.RunConfig` from a concrete task config.
 

source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py

@@ -181,6 +181,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py

@@ -232,6 +232,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py

@@ -178,6 +178,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py

@@ -220,6 +220,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py

@@ -181,6 +181,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py

@@ -268,6 +268,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py

@@ -210,6 +210,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py

@@ -352,6 +352,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/isaaclab/benchmark/entrypoints/runtime.py

@@ -169,6 +169,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         "data": ("serialized_synchronized" if args.measure_sync_step else "host_return"),
                     },
                     {"name": "world_size", "data": distributed.world_size},
+                    *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                 ]
             },
         )

source/isaaclab/isaaclab/benchmark/entrypoints/startup.py

@@ -357,6 +357,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         {"name": "num_envs", "data": args.num_envs},
                         {"name": "top_n", "data": args.top_n},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )

source/isaaclab/test/benchmark/test_benchmark_core.py

@@ -170,6 +170,14 @@ def test_benchmark_collects_metadata_measurements_and_writes_json(tmp_path):
         output_path=str(output_path),
         use_recorders=False,
         output_prefix="test",
+        workflow_metadata={
+            "metadata": [
+                {
+                    "name": "camera_resolutions",
+                    "data": {"env.scene.tiled_camera": {"width": 64, "height": 48}},
+                }
+            ]
+        },
     )
 
     benchmark.add_measurement(
@@ -191,6 +199,7 @@ def test_benchmark_collects_metadata_measurements_and_writes_json(tmp_path):
     assert not hasattr(benchmark, "_manual_recorders") or benchmark._manual_recorders is None
     assert data["benchmark_info"]["workflow_name"] == "my_workflow"
     assert "timestamp" in data["benchmark_info"]
+    assert data["benchmark_info"]["camera_resolutions"] == {"env.scene.tiled_camera": {"width": 64, "height": 48}}
     assert data["runtime"]["metric1"] == 10.0
     assert data["runtime"]["metric2"] == 20.0
     assert data["runtime"]["custom"] == "value"

source/isaaclab/test/benchmark/test_capture.py

@@ -10,6 +10,8 @@
 import pytest
 
 from isaaclab.benchmark.capture import (
+    camera_resolution_metadata_from_env_cfg,
+    camera_resolutions_from_env_cfg,
     capture_hardware,
     capture_resources,
     capture_versions,
@@ -228,6 +230,44 @@ def test_run_config_uses_concrete_backend_configuration():
         run_config_from_env_cfg(SimpleNamespace(sim=SimpleNamespace(physics=object())))
 
 
+def test_camera_resolutions_use_resolved_config_paths():
+    class CameraCfg:
+        def __init__(self, width: int, height: int):
+            self.width = width
+            self.height = height
+
+    class CartpoleCameraCfg(CameraCfg):
+        pass
+
+    class RayCasterCameraCfg:
+        def __init__(self, width: int, height: int):
+            self.pattern_cfg = SimpleNamespace(width=width, height=height)
+
+    shared_camera = CartpoleCameraCfg(width=64, height=48)
+    env_cfg = SimpleNamespace(
+        scene=SimpleNamespace(tiled_camera=shared_camera, duplicate=shared_camera),
+        ray_camera=RayCasterCameraCfg(width=32, height=24),
+        viewport=SimpleNamespace(width=1920, height=1080),
+    )
+
+    expected = {
+        "env.ray_camera": {"width": 32, "height": 24},
+        "env.scene.tiled_camera": {"width": 64, "height": 48},
+    }
+    assert camera_resolutions_from_env_cfg(env_cfg) == expected
+    assert camera_resolution_metadata_from_env_cfg(env_cfg) == [{"name": "camera_resolutions", "data": expected}]
+
+
+def test_camera_resolutions_omit_unconfigured_dimensions():
+    class CameraCfg:
+        width = object()
+        height = object()
+
+    env_cfg = SimpleNamespace(camera=CameraCfg())
+    assert camera_resolutions_from_env_cfg(env_cfg) == {}
+    assert camera_resolution_metadata_from_env_cfg(env_cfg) == []
+
+
 def test_capture_resources_peak_clamped_to_mean_when_peak_row_absent():
     # Build a recorder that has mean/std rows but no peak rows.
     # capture_resources must clamp peak to mean rather than leaving it at 0.0