Description

This PR adds an atomic-action benchmark suite on top of the ljd/press_atomic_actions branch.

It includes benchmark entry points for move_end_effector, move_joints, pick_up, move_held_object, place, and press, plus an aggregate python -m scripts.benchmark atomic-action runner. Object-conditioned benchmarks cover object presets, initial position cases, pickup approaches, optional replay videos, and markdown reports with the required Time & Memory, Success & Other Metrics, and Leaderboard tables.

The pick/place/move-held-object success metrics use physical replay validation so reports distinguish planning success from actual object motion outcomes.

Dependencies: existing EmbodiChain simulation runtime, DexSim, PyTorch, and benchmark assets.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

N/A

Validation

• python -m black --check --diff --color ./
• python -m py_compile scripts/benchmark/*.py scripts/benchmark/atomic_action/*.py
• python -m pytest tests/sim/atomic_actions/test_actions.py
• python -m scripts.benchmark atomic-action --help
• python -m scripts.benchmark.atomic_action.pickup_benchmark --help
• python -m scripts.benchmark.atomic_action.place_benchmark --help
• python -m scripts.benchmark.atomic_action.move_held_object_benchmark --help
• python -m scripts.benchmark.atomic_action.press_benchmark --help
• Smoke/coverage benchmark runs were validated locally by the requester.

Docs build note: make html is blocked in this local environment by missing pypandoc during docs/scripts/sync_readme.py; this PR does not modify docs relative to the target branch.

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.