Add --ovrtx_async_rendering to the RSL-RL training benchmark

Mirror the runtime benchmark option so sync/async camera training runs can be measured with scripts/benchmarks/training.py directly.

Author: pv-nvidia

scripts/benchmarks/rsl_rl/benchmark_rsl_rl_train.py

@@ -73,6 +73,15 @@ def _parse_args(argv: list[str]):
         default=False,
         help="Omit per-iteration series data from the bundle to reduce file size.",
     )
+    parser.add_argument(
+        "--ovrtx_async_rendering",
+        action=argparse.BooleanOptionalAction,
+        default=None,
+        help=(
+            "Enable or disable OVRTX asynchronous rendering (one frame of camera latency). Requires"
+            " renderer=ovrtx. When omitted, the task's renderer configuration is left unchanged."
+        ),
+    )
 
     from scripts.benchmarks.early_stop import add_success_cli_args
 
@@ -147,6 +156,9 @@ def run(argv: list[str]) -> None:
         app_t1 = time.perf_counter_ns()
 
         apply_env_overrides(args_cli, env_cfg)
+        from scripts.benchmarks.runtime import _apply_ovrtx_async_rendering
+
+        ovrtx_async_rendering = _apply_ovrtx_async_rendering(env_cfg, args_cli.ovrtx_async_rendering)
         agent_cfg = cli_args.update_rsl_rl_cfg(agent_cfg, args_cli)
         agent_cfg.max_iterations = (
             args_cli.max_iterations if args_cli.max_iterations is not None else agent_cfg.max_iterations
@@ -172,6 +184,7 @@ def run(argv: list[str]) -> None:
                     {"name": "seed", "data": agent_cfg.seed},
                     {"name": "num_envs", "data": env_cfg.scene.num_envs},
                     {"name": "max_iterations", "data": agent_cfg.max_iterations},
+                    {"name": "ovrtx_async_rendering", "data": ovrtx_async_rendering},
                     {"name": "presets", "data": ",".join(cfg.presets)},
                 ]
             },

source/isaaclab/changelog.d/pv-runtime-benchmark-warmup.rst

@@ -2,4 +2,4 @@ Added
 ^^^^^
 
 * Added untimed warmup frames and an ``--ovrtx_async_rendering`` option to the runtime
-  benchmark.
+  benchmark, and an ``--ovrtx_async_rendering`` option to the RSL-RL training benchmark.