diff --git a/.github/workflows/profiling.yml b/.github/workflows/profiling.yml
new file mode 100644
index 0000000000..b4963c0889
--- /dev/null
+++ b/.github/workflows/profiling.yml
@@ -0,0 +1,53 @@
+name: Profiling
+
+on:
+ pull_request:
+ branches:
+ - og-develop
+
+permissions:
+ # deployments permission to deploy GitHub pages website
+ deployments: write
+ # contents permission to update profiling contents in gh-pages branch
+ contents: write
+
+concurrency:
+ group: ${{ github.workflow }}-${{ github.event_name == 'pull_request' && github.head_ref || github.sha }}
+ cancel-in-progress: true
+
+jobs:
+ profiling:
+ name: Speed Profiling
+ runs-on: [self-hosted, linux, gpu, dataset-enabled]
+
+ defaults:
+ run:
+ shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
+
+ steps:
+ - name: Fix home
+ run: echo "HOME=/root" >> $GITHUB_ENV
+
+ - name: Checkout source
+ uses: actions/checkout@v3
+
+ - name: Install dev requirements
+ run: pip install -r requirements-dev.txt
+
+ - name: Install
+ run: pip install -e .
+
+ - name: Run performance benchmark
+ run: bash scripts/profiling.sh
+
+ - name: Store benchmark result
+ uses: benchmark-action/github-action-benchmark@v1
+ with:
+ tool: 'customSmallerIsBetter'
+ output-file-path: output.json
+ benchmark-data-dir-path: profiling
+ fail-on-alert: true
+ alert-threshold: '200%'
+ github-token: ${{ secrets.GITHUB_TOKEN }}
+ comment-on-alert: true
+ auto-push: true
diff --git a/omnigibson/macros.py b/omnigibson/macros.py
index d0bcff6ef4..1e097182f6 100644
--- a/omnigibson/macros.py
+++ b/omnigibson/macros.py
@@ -55,6 +55,9 @@
# CANNOT be set at runtime
gm.GUI_VIEWPORT_ONLY = False
+# Whether to use the viewer camera or not
+gm.VIEWER_CAMERA_VISIBLE = True
+
# Do not suppress known omni warnings / errors, and also put omnigibson in a debug state
# This includes extra information for things such as object sampling, and also any debug
# logging messages
diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
index a9a8e6f25a..271d3bd992 100644
--- a/omnigibson/simulator.py
+++ b/omnigibson/simulator.py
@@ -1236,6 +1236,7 @@ def _init_stage(
position=np.array(m.DEFAULT_VIEWER_CAMERA_POS),
orientation=np.array(m.DEFAULT_VIEWER_CAMERA_QUAT),
)
+ self.viewer_visibility = gm.VIEWER_CAMERA_VISIBLE
def close(self):
"""
diff --git a/omnigibson/systems/macro_particle_system.py b/omnigibson/systems/macro_particle_system.py
index 00d413caaf..0f85e98f76 100644
--- a/omnigibson/systems/macro_particle_system.py
+++ b/omnigibson/systems/macro_particle_system.py
@@ -1102,6 +1102,9 @@ class MacroPhysicalParticleSystem(PhysicalParticleSystem, MacroParticleSystem):
_particle_radius = None
_particle_offset = None
+ has_particles = False
+ has_refreshed = False
+
@classmethod
def initialize(cls):
# Run super method first
@@ -1189,6 +1192,12 @@ def get_particles_position_orientation(cls):
pos, ori = np.array([]).reshape(0, 3), np.array([]).reshape(0, 4)
return pos, ori
+ @classmethod
+ def update(cls):
+ if cls.has_particles and not cls.has_refreshed:
+ cls._refresh_particles_view()
+ cls.has_refreshed = True
+
@classmethod
def get_particles_local_pose(cls):
return cls.get_particles_position_orientation()
@@ -1344,6 +1353,9 @@ def generate_particles(
# Set the vels
cls.set_particles_velocities(lin_vels=velocities, ang_vels=angular_velocities)
+ if not cls.has_particles:
+ cls.has_particles = True
+
@classmethod
def create(cls, name, create_particle_template, particle_density, scale=None, **kwargs):
"""
diff --git a/omnigibson/systems/system_base.py b/omnigibson/systems/system_base.py
index 0e06b8966d..d78dd863f8 100644
--- a/omnigibson/systems/system_base.py
+++ b/omnigibson/systems/system_base.py
@@ -1233,6 +1233,10 @@ def is_physical_particle_system(system_name):
def get_system(system_name, force_active=True):
# Make sure scene exists
assert og.sim.scene is not None, "Cannot get systems until scene is imported!"
+ # Make sure prefixes preserve their double underscore
+ for prefix in SYSTEM_PREFIXES:
+ if f"{prefix}__" not in system_name:
+ system_name = system_name.replace(f"{prefix}_", f"{prefix}__")
# If system_name is not in REGISTERED_SYSTEMS, create from metadata
system = REGISTERED_SYSTEMS[system_name] if system_name in REGISTERED_SYSTEMS \
else _create_system_from_metadata(system_name=system_name)
diff --git a/omnigibson/transition_rules.py b/omnigibson/transition_rules.py
index 0b80ab5906..a6b5ba6160 100644
--- a/omnigibson/transition_rules.py
+++ b/omnigibson/transition_rules.py
@@ -799,9 +799,8 @@ def _generate_conditions(cls):
@classmethod
def transition(cls, object_candidates):
objs_to_remove = []
-
for diceable_obj in object_candidates["diceable"]:
- system = get_system(f"diced_{diceable_obj.category}")
+ system = get_system(f"diced__{diceable_obj.category}")
system.generate_particles_from_link(diceable_obj, diceable_obj.root_link, check_contact=False, use_visual_meshes=False)
# Delete original object from stage.
diff --git a/omnigibson/utils/profiling_utils.py b/omnigibson/utils/profiling_utils.py
new file mode 100644
index 0000000000..ccf7334a94
--- /dev/null
+++ b/omnigibson/utils/profiling_utils.py
@@ -0,0 +1,83 @@
+import gym
+import omnigibson as og
+import os
+import psutil
+from pynvml.smi import nvidia_smi
+
+from time import time
+from omnigibson.envs.env_base import Environment
+
+PROFILING_FIELDS = ["total time", "physics time", "render time", "non physics time", "get observation time", "task time", "action time"]
+
+class ProfilingEnv(Environment):
+ def step(self, action):
+ try:
+ start = time()
+ # If the action is not a dictionary, convert into a dictionary
+ if not isinstance(action, dict) and not isinstance(action, gym.spaces.Dict):
+ action_dict = dict()
+ idx = 0
+ for robot in self.robots:
+ action_dim = robot.action_dim
+ action_dict[robot.name] = action[idx: idx + action_dim]
+ idx += action_dim
+ else:
+ # Our inputted action is the action dictionary
+ action_dict = action
+
+ # Iterate over all robots and apply actions
+ for robot in self.robots:
+ robot.apply_action(action_dict[robot.name])
+
+ # Run simulation step
+ sim_start = time()
+ if len(og.sim._objects_to_initialize) > 0:
+ og.sim.render()
+ super(type(og.sim), og.sim).step(render=True)
+ omni_time = (time() - sim_start) * 1e3
+
+ # Additionally run non physics things
+ og.sim._non_physics_step()
+
+ # Grab observations
+ obs = self.get_obs()
+
+ # Step the scene graph builder if necessary
+ if self._scene_graph_builder is not None:
+ self._scene_graph_builder.step(self.scene)
+
+ # Grab reward, done, and info, and populate with internal info
+ reward, done, info = self.task.step(self, action)
+ self._populate_info(info)
+
+ if done and self._automatic_reset:
+ # Add lost observation to our information dict, and reset
+ info["last_observation"] = obs
+ obs = self.reset()
+
+ # Increment step
+ self._current_step += 1
+
+ # collect profiling data
+ total_frame_time = (time() - start) * 1e3
+ og_time = total_frame_time - omni_time
+ # memory usage in GB
+ memory_usage = psutil.Process(os.getpid()).memory_info().rss / 1024 ** 3
+ # VRAM usage in GB
+ for gpu in nvidia_smi.getInstance().DeviceQuery()['gpu']:
+ found = False
+ for process in gpu['processes']:
+ if process['pid'] == os.getpid():
+ vram_usage = process['used_memory'] / 1024
+ found = True
+ break
+ if found:
+ break
+
+ ret = [total_frame_time, omni_time, og_time, memory_usage, vram_usage]
+ if self._current_step % 100 == 0:
+ print("total time: {:.3f} ms, Omni time: {:.3f} ms, OG time: {:.3f} ms, memory: {:.3f} GB, vram: {:.3f} GB.".format(*ret))
+
+ return obs, reward, done, info, ret
+ except:
+ raise ValueError(f"Failed to execute environment step {self._current_step} in episode {self._current_episode}")
diff --git a/requirements-dev.txt b/requirements-dev.txt
index f0a16f7f5d..3337e951e4 100644
--- a/requirements-dev.txt
+++ b/requirements-dev.txt
@@ -7,4 +7,5 @@ mkdocs-material
mkdocs-material-extensions
mkdocstrings[python]
mkdocs-section-index
-mkdocs-literate-nav
\ No newline at end of file
+mkdocs-literate-nav
+nvidia-ml-py
\ No newline at end of file
diff --git a/scripts/benchmark.html b/scripts/benchmark.html
deleted file mode 100644
index 3d9f5c1a59..0000000000
--- a/scripts/benchmark.html
+++ /dev/null
@@ -1,134 +0,0 @@
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