Add atomic action benchmarks

scripts/benchmark/__main__.py

@@ -21,6 +21,7 @@
     python -m scripts.benchmark rl --tasks push_cube --algorithms ppo --suite default
     python -m scripts.benchmark rl --rebuild-report-only
     python -m scripts.benchmark robotics-kinematic-solver -s pytorch
+    python -m scripts.benchmark atomic-action --smoke
 """
 
 from __future__ import annotations
@@ -45,6 +46,13 @@ def _run_rl_cli(_: argparse.Namespace) -> None:
     rl_main()
 
 
+def _run_atomic_action_cli(_: argparse.Namespace) -> None:
+    """Run atomic action benchmark CLI entrypoint."""
+    from scripts.benchmark.atomic_action.run_benchmark import main as atomic_main
+
+    atomic_main()
+
+
 def main() -> None:
     """Dispatch to the appropriate benchmark sub-command CLI."""
     parser = argparse.ArgumentParser(
@@ -75,6 +83,16 @@ def main() -> None:
     )
     robotics_ks_parser.set_defaults(func=_run_robotics_kinematic_solver_cli)
 
+    # -- atomic-action -------------------------------------------------------
+    atomic_action_parser = subparsers.add_parser(
+        "atomic-action",
+        help="Benchmark atomic actions over object presets and positions.",
+    )
+    from scripts.benchmark.atomic_action.run_benchmark import add_benchmark_args
+
+    add_benchmark_args(atomic_action_parser)
+    atomic_action_parser.set_defaults(func=_run_atomic_action_cli)
+
     # -- Parse ---------------------------------------------------------------
     # If no sub-command is given, print help and exit.
     if len(sys.argv) < 2 or sys.argv[1] in ("-h", "--help"):
@@ -101,3 +119,6 @@ def main() -> None:
 
 if __name__ == "__main__":
     main()
+
+
+__all__ = ["main"]

scripts/benchmark/atomic_action/__init__.py

@@ -0,0 +1,21 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+"""Benchmarks for atomic actions."""
+
+from __future__ import annotations
+
+__all__ = []