From 92c7db7c189a05d41954b5537ba2c9063b30956d Mon Sep 17 00:00:00 2001 From: Wensi Ai Date: Fri, 12 Jan 2024 17:25:34 -0800 Subject: [PATCH] Add profiling --- .github/workflows/profiling.yml | 53 ++++++ omnigibson/macros.py | 3 + omnigibson/simulator.py | 1 + omnigibson/systems/macro_particle_system.py | 12 ++ omnigibson/systems/system_base.py | 4 + omnigibson/transition_rules.py | 3 +- omnigibson/utils/profiling_utils.py | 83 +++++++++ requirements-dev.txt | 3 +- scripts/benchmark.html | 134 --------------- scripts/{benchmark.css => profiling.css} | 0 scripts/profiling.html | 164 ++++++++++++++++++ scripts/{benchmark.js => profiling.js} | 30 ++-- scripts/profiling.sh | 16 ++ tests/benchmark/profiling.py | 180 ++++++++++++++++++++ 14 files changed, 537 insertions(+), 149 deletions(-) create mode 100644 .github/workflows/profiling.yml create mode 100644 omnigibson/utils/profiling_utils.py delete mode 100644 scripts/benchmark.html rename scripts/{benchmark.css => profiling.css} (100%) create mode 100644 scripts/profiling.html rename scripts/{benchmark.js => profiling.js} (50%) create mode 100644 scripts/profiling.sh create mode 100644 tests/benchmark/profiling.py 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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on", "Rs_int, with 1 Fetch robot, flatcache on", "Rs_int, with 3 Fetch robot, flatcache on"]], - 'np_total_canvas': ["Total frame time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], - 'np_physics_canvas': ["Physics step time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], - 'np_rendering_canvas': ["Render step time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], - 'np_non_physics_canvas': ["Non-physics step time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], - 'scene_total_canvas': ["Total frame time", ["Rs_int, with 1 Fetch robot, flatcache on", "Rs_int, with 1 Fetch robot, flatcache on", "Rs_int, with 1 Fetch robot, flatcache on", "Rs_int, with 1 Fetch robot, flatcache on"]], - 'scene_physics_canvas': ["Physics step time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], - 'scene_rendering_canvas': ["Render step time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], - 'scene_non_physics_canvas': ["Non-physics step time", ["Rs_int, with 1 Fetch robot, fluids", "Rs_int, with 1 Fetch robot, cloth", "Rs_int, with 1 Fetch robot, macro particles", "Rs_int, with 1 Fetch robot, cloth, fluids, macro particles"]], + 'baseline_total_canvas': ["Total frame time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch robot", "Rs_int, with 3 Fetch robot"]], + 'baseline_loading_canvas': ["Loading time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch robot", "Rs_int, with 3 Fetch robot"]], + 'baseline_omni_canvas': ["Omni step time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch robot", "Rs_int, with 3 Fetch robot"]], + 'baseline_og_canvas': ["Non-omni step time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch robot", "Rs_int, with 3 Fetch robot"]], + 'baseline_mem_canvas': ["Memory usage", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch robot", "Rs_int, with 3 Fetch robot"]], + 'baseline_vram_canvas': ["Vram usage", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch robot", "Rs_int, with 3 Fetch robot"]], + 'np_total_canvas': ["Total frame time", ["Empty scene, with 1 Fetch robot, fluids", "Empty scene, with 1 Fetch robot, cloth", "Empty scene, with 1 Fetch robot, macro particles", "Empty scene, with 1 Fetch robot, cloth, fluids, macro particles"]], + 'np_loading_canvas': ["Loading time", ["Empty scene, with 1 Fetch robot, fluids", "Empty scene, with 1 Fetch robot, cloth", "Empty scene, with 1 Fetch robot, macro particles", "Empty scene, with 1 Fetch robot, cloth, fluids, macro particles"]], + 'np_omni_canvas': ["Omni step time", ["Empty scene, with 1 Fetch robot, fluids", "Empty scene, with 1 Fetch robot, cloth", "Empty scene, with 1 Fetch robot, macro particles", "Empty scene, with 1 Fetch robot, cloth, fluids, macro particles"]], + 'np_og_canvas': ["Non-omni step time", ["Empty scene, with 1 Fetch robot, fluids", "Empty scene, with 1 Fetch robot, cloth", "Empty scene, with 1 Fetch robot, macro particles", "Empty scene, with 1 Fetch robot, cloth, fluids, macro particles"]], + 'np_mem_canvas': ["Memory usage", ["Empty scene, with 1 Fetch robot, fluids", "Empty scene, with 1 Fetch robot, cloth", "Empty scene, with 1 Fetch robot, macro particles", "Empty scene, with 1 Fetch robot, cloth, fluids, macro particles"]], + 'np_vram_canvas': ["Vram usage", ["Empty scene, with 1 Fetch robot, fluids", "Empty scene, with 1 Fetch robot, cloth", "Empty scene, with 1 Fetch robot, macro particles", "Empty scene, with 1 Fetch robot, cloth, fluids, macro particles"]], + // 'scene_total_canvas': ["Total frame time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]], + // 'scene_loading_canvas': ["Loading time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]], + // 'scene_omni_canvas': ["Omni step time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]], + // 'scene_og_canvas': ["Non-omni step time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]], + // 'scene_mem_canvas': ["Memory usage", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]], + // 'scene_vram_canvas': ["Vram usage", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]], } diff --git a/scripts/profiling.sh b/scripts/profiling.sh new file mode 100644 index 0000000000..30acb156f7 --- /dev/null +++ b/scripts/profiling.sh @@ -0,0 +1,16 @@ +# 1st batch: baselines +python tests/benchmark/profiling.py # baseline (fastest config possible) +python tests/benchmark/profiling.py -s Rs_int # for vision research +python tests/benchmark/profiling.py -s Rs_int -r 1 # for robotics research +python tests/benchmark/profiling.py -s Rs_int -r 3 # for multi-agent research + +# 2nd batch: compare different scenes +# python tests/benchmark/profiling.py -r 1 -s house_single_floor +# python tests/benchmark/profiling.py -r 1 -s grocery_store_cafe +# python tests/benchmark/profiling.py -r 1 -s Pomaria_0_garden + +# 3rd batch: OG non-physics features +python tests/benchmark/profiling.py -r 1 -w # fluids (water) +python tests/benchmark/profiling.py -r 1 -c # soft body (cloth) +python tests/benchmark/profiling.py -r 1 -p # macro particle system (diced objects) +python tests/benchmark/profiling.py -r 1 -w -c -p # everything \ No newline at end of file diff --git a/tests/benchmark/profiling.py b/tests/benchmark/profiling.py new file mode 100644 index 0000000000..072f1632d4 --- /dev/null +++ b/tests/benchmark/profiling.py @@ -0,0 +1,180 @@ +import os +import argparse +import json +import omnigibson as og +import numpy as np +import omnigibson.utils.transform_utils as T +import time + +from omnigibson.macros import gm +from omnigibson.systems import get_system +from omnigibson.object_states import Covered, SlicerActive +from omnigibson.utils.profiling_utils import ProfilingEnv +from omnigibson.utils.constants import PrimType + +parser = argparse.ArgumentParser() + +parser.add_argument("-r", "--robot", type=int, default=0) +parser.add_argument("-s", "--scene", default="") +parser.add_argument("-c", "--cloth", action='store_true') +parser.add_argument("-w", "--fluids", action='store_true') +parser.add_argument("-p", "--macro_particle_system", action='store_true') + +PROFILING_FIELDS = ["Total frame time", "Omni step time", "Non-omni step time", "Memory usage", "Vram usage"] +NUM_CLOTH = 5 +NUM_SLICE_OBJECT = 3 + +SCENE_OFFSET = { + "": [0, 0], + "Rs_int": [0, 0], + "Pomaria_0_garden": [0.3, 0], + "grocery_store_cafe": [-3.5, 3.5], + "house_single_floor": [0, 0], +} + + +def main(): + args = parser.parse_args() + # Modify macros settings + gm.VIEWER_CAMERA_VISIBLE = True + gm.ENABLE_HQ_RENDERING = args.fluids + gm.ENABLE_OBJECT_STATES = True + gm.ENABLE_TRANSITION_RULES = True + gm.USE_GPU_DYNAMICS = True + + cfg = { + "env": { + "action_frequency": 60, + "physics_frequency": 300, + } + } + if args.robot > 0: + cfg["robots"] = [] + for i in range(args.robot): + cfg["robots"].append({ + "type": "Fetch", + "obs_modalities": "all", + "position": [-1.3 + 0.75 * i + SCENE_OFFSET[args.scene][0], 0.5 + SCENE_OFFSET[args.scene][1], 0], + "orientation": [0., 0., 0.7071, -0.7071] + }) + + if args.scene: + assert args.scene in SCENE_OFFSET, f"Scene {args.scene} not found in SCENE_OFFSET" + cfg["scene"] = { + "type": "InteractiveTraversableScene", + "scene_model": args.scene, + } + else: + cfg["scene"] = {"type": "Scene"} + + cfg["objects"] = [{ + "type": "DatasetObject", + "name": "table", + "category": "breakfast_table", + "model": "rjgmmy", + "fixed_base": True, + "scale": [0.75] * 3, + "position": [0.5 + SCENE_OFFSET[args.scene][0], -1 + SCENE_OFFSET[args.scene][1], 0.3], + "orientation": [0., 0., 0.7071, -0.7071] + }] + + if args.cloth: + cfg["objects"].extend([{ + "type": "DatasetObject", + "name": f"cloth_{n}", + "category": "t_shirt", + "model": "kvidcx", + "prim_type": PrimType.CLOTH, + "abilities": {"cloth": {}}, + "bounding_box": [0.3, 0.5, 0.7], + "position": [-0.4, -1, 0.7 + n * 0.4], + "orientation": [0.7071, 0., 0.7071, 0.], + } for n in range(NUM_CLOTH)]) + + cfg["objects"].extend([{ + "type": "DatasetObject", + "name": f"apple_{n}", + "category": "apple", + "model": "agveuv", + "scale": [1.5] * 3, + "position": [0.5 + SCENE_OFFSET[args.scene][0], -1.25 + SCENE_OFFSET[args.scene][1] + n * 0.2, 0.5], + "abilities": {"diceable": {}} if args.macro_particle_system else {} + } for n in range(NUM_SLICE_OBJECT)]) + cfg["objects"].extend([{ + "type": "DatasetObject", + "name": f"knife_{n}", + "category": "table_knife", + "model": "jxdfyy", + "scale": [2.5] * 3 + } for n in range(NUM_SLICE_OBJECT)]) + + load_start = time.time() + env = ProfilingEnv(configs=cfg) + table = env.scene.object_registry("name", "table") + apples = [env.scene.object_registry("name", f"apple_{n}") for n in range(NUM_SLICE_OBJECT)] + knifes = [env.scene.object_registry("name", f"knife_{n}") for n in range(NUM_SLICE_OBJECT)] + if args.cloth: + clothes = [env.scene.object_registry("name", f"cloth_{n}") for n in range(NUM_CLOTH)] + for cloth in clothes: + cloth.root_link.mass = 1.0 + env.reset() + + for n, knife in enumerate(knifes): + knife.set_position_orientation( + position=apples[n].get_position() + np.array([-0.15, 0.0, 0.1 * (n + 2)]), + orientation=T.euler2quat([-np.pi / 2, 0, 0]), + ) + knife.keep_still() + if args.fluids: + table.states[Covered].set_value(get_system("water"), True) + + output, results = [], [] + + # Update the simulator's viewer camera's pose so it points towards the robot + og.sim.viewer_camera.set_position([SCENE_OFFSET[args.scene][0], -3 + SCENE_OFFSET[args.scene][1], 1]) + # record total load time + total_load_time = time.time() - load_start + + for i in range(500): + print('\n') + if args.robot: + result = env.step(np.array([np.random.uniform(-0.3, 0.3, env.robots[i].action_dim) for i in range(args.robot)]).flatten())[4] + else: + result = env.step(None)[4] + results.append(result) + + field = f"{args.scene}" if args.scene else "Empty scene" + if args.robot: + field += f", with {args.robot} Fetch" + if args.cloth: + field += ", cloth" + if args.fluids: + field += ", fluids" + if args.macro_particle_system: + field += ", macro particles" + output.append({ + "name": field, + "unit": "time (ms)", + "value": total_load_time, + "extra": ["Loading time", "Loading time"] + }) + results = np.array(results) + for i, title in enumerate(PROFILING_FIELDS): + output.append({ + "name": field, + "unit": "time (ms)" if 'time' in title else "GB", + "value": np.mean(results[:, i]), + "extra": [title, title] + }) + + ret = [] + if os.path.exists("output.json"): + with open("output.json", "r") as f: + ret = json.load(f) + ret.extend(output) + with open("output.json", "w") as f: + json.dump(ret, f, indent=4) + og.shutdown() + +if __name__ == "__main__": + main()