Merge pull request #644 from StanfordVL/profiling

Speed Improvement & Benchmark

Author: wensi-ai

omnigibson/examples/robots/robot_control_example.py

@@ -72,11 +72,6 @@ def main(random_selection=False, headless=False, short_exec=False):
         options=list(sorted(REGISTERED_ROBOTS.keys())), name="robot", random_selection=random_selection
     )
 
-    # Create the config for generating the environment we want
-    env_cfg = dict()
-    env_cfg["action_frequency"] = 10
-    env_cfg["physics_frequency"] = 120
-
     scene_cfg = dict()
     if scene_model == "empty":
         scene_cfg["type"] = "Scene"
@@ -92,7 +87,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     robot0_cfg["action_normalize"] = True
 
     # Compile config
-    cfg = dict(env=env_cfg, scene=scene_cfg, robots=[robot0_cfg])
+    cfg = dict(scene=scene_cfg, robots=[robot0_cfg])
 
     # Create the environment
     env = og.Environment(configs=cfg)

omnigibson/simulator.py

@@ -128,14 +128,18 @@ def _launch_app():
             og_log.set_channel_enabled(channel, False, lazy.omni.log.SettingBehavior.OVERRIDE)
 
     # Possibly hide windows if in debug mode
+    hide_window_names = []
+    if not gm.RENDER_VIEWER_CAMERA:
+        hide_window_names.append("Viewport")
     if gm.GUI_VIEWPORT_ONLY:
-        hide_window_names = ["Console", "Main ToolBar", "Stage", "Layer", "Property", "Render Settings", "Content",
-                             "Flow", "Semantics Schema Editor"]
-        for name in hide_window_names:
-            window = lazy.omni.ui.Workspace.get_window(name)
-            if window is not None:
-                window.visible = False
-                app.update()
+        hide_window_names.extend(["Console", "Main ToolBar", "Stage", "Layer", "Property", "Render Settings", "Content",
+                             "Flow", "Semantics Schema Editor"])
+        
+    for name in hide_window_names:
+        window = lazy.omni.ui.Workspace.get_window(name)
+        if window is not None:
+            window.visible = False
+            app.update()
 
     lazy.omni.kit.widget.stage.context_menu.ContextMenu.save_prim = print_save_usd_warning
 
@@ -235,9 +239,9 @@ def __init__(
             self.clear()
 
             # Set the viewer dimensions
-            # TODO: Make this toggleable so we don't always have a viewer if we don't want to
-            self.viewer_width = viewer_width
-            self.viewer_height = viewer_height
+            if gm.RENDER_VIEWER_CAMERA:
+                self.viewer_width = viewer_width
+                self.viewer_height = viewer_height
 
             # Toggle simulator state once so that downstream omni features can be used without bugs
             # e.g.: particle sampling, which for some reason requires sim.play() to be called at least once
@@ -331,14 +335,20 @@ def _set_physics_engine_settings(self):
             self._physics_context.set_gpu_max_particle_contacts(gm.GPU_MAX_PARTICLE_CONTACTS)
 
         def _set_renderer_settings(self):
-            # TODO: For now we are setting these to some reasonable high-performance values but these can be made configurable.
-            lazy.carb.settings.get_settings().set_bool("/rtx/reflections/enabled", False)  # Can be True with a 10fps penalty
-            lazy.carb.settings.get_settings().set_bool("/rtx/indirectDiffuse/enabled", True)  # Can be False with a 5fps gain
-            lazy.carb.settings.get_settings().set_bool("/rtx/directLighting/sampledLighting/enabled", True)
+            if gm.ENABLE_HQ_RENDERING:
+                lazy.carb.settings.get_settings().set_bool("/rtx/reflections/enabled", True)                    
+                lazy.carb.settings.get_settings().set_bool("/rtx/indirectDiffuse/enabled", True)                 
+                lazy.carb.settings.get_settings().set_int("/rtx/post/dlss/execMode", 3)   # "Auto"
+                lazy.carb.settings.get_settings().set_bool("/rtx/ambientOcclusion/enabled", True)                
+                lazy.carb.settings.get_settings().set_bool("/rtx/directLighting/sampledLighting/enabled", False)
+            else:
+                lazy.carb.settings.get_settings().set_bool("/rtx/reflections/enabled", False)                   
+                lazy.carb.settings.get_settings().set_bool("/rtx/indirectDiffuse/enabled", False)              
+                lazy.carb.settings.get_settings().set_int("/rtx/post/dlss/execMode", 0)   # "Performance"
+                lazy.carb.settings.get_settings().set_bool("/rtx/ambientOcclusion/enabled", False)             
+                lazy.carb.settings.get_settings().set_bool("/rtx/directLighting/sampledLighting/enabled", True) 
             lazy.carb.settings.get_settings().set_int("/rtx/raytracing/showLights", 1)
             lazy.carb.settings.get_settings().set_float("/rtx/sceneDb/ambientLightIntensity", 0.1)
-            # TODO: Think of better setting defaults. Below works well for indoor-only scenes, but if skybox is the only light source then this looks very bad
-            # carb.settings.get_settings().set_int("/rtx/domeLight/upperLowerStrategy", 3)  # "Limited image-based"
 
         @property
         def viewer_visibility(self):
@@ -409,6 +419,7 @@ def enable_viewer_camera_teleoperation(self):
             """
             Enables keyboard control of the active viewer camera for this simulation
             """
+            assert gm.RENDER_VIEWER_CAMERA, "Viewer camera must be enabled to enable teleoperation!"
             self._camera_mover = CameraMover(cam=self._viewer_camera)
             self._camera_mover.print_info()
             return self._camera_mover
@@ -1288,12 +1299,12 @@ def _init_stage(
             self.set_lighting_mode(mode=LightingMode.STAGE)
 
             # Set the viewer camera, and then set its default pose
-            self._set_viewer_camera()
-            self.viewer_camera.set_position_orientation(
-                position=np.array(m.DEFAULT_VIEWER_CAMERA_POS),
-                orientation=np.array(m.DEFAULT_VIEWER_CAMERA_QUAT),
-            )
-            self.viewer_visibility = gm.RENDER_VIEWER_CAMERA
+            if gm.RENDER_VIEWER_CAMERA:
+                self._set_viewer_camera()
+                self.viewer_camera.set_position_orientation(
+                    position=np.array(m.DEFAULT_VIEWER_CAMERA_POS),
+                    orientation=np.array(m.DEFAULT_VIEWER_CAMERA_QUAT),
+                )
 
         def close(self):
             """

setup.py

@@ -23,6 +23,7 @@
     install_requires=[
         "gym~=0.26.2",
         "numpy~=1.23.5",
+        "scipy~=1.10.1",
         "GitPython~=3.1.40",
         "transforms3d~=0.4.1",
         "networkx~=3.2.1",
@@ -41,7 +42,7 @@
         "termcolor~=2.4.0",
         "progressbar~=2.5",
         "pymeshlab~=2022.2",
-        "click~=8.1.7",
+        "click~=8.1.3",
         "aenum~=3.1.15",
         "rtree~=1.2.0"
     ],

tests/benchmark/benchmark_interactive_scene.py

@@ -2,39 +2,32 @@
 
 import os
 import time
-
 import matplotlib.pyplot as plt
 import numpy as np
 
 import omnigibson as og
 from omnigibson.macros import gm
 from omnigibson.robots.turtlebot import Turtlebot
 from omnigibson.scenes.interactive_traversable_scene import InteractiveTraversableScene
+from omnigibson.simulator import launch_simulator
 from omnigibson.utils.asset_utils import get_og_assets_version
 
 
 # Params to be set as needed.
-SCENES = ["restaurant_hotel"]
+SCENES = ["Rs_int"]
 OUTPUT_DIR = os.path.join(os.path.expanduser("~"), "Desktop")
 NUM_STEPS = 2000
-gm.DEFAULT_VIEWER_WIDTH = 128
-gm.DEFAULT_VIEWER_HEIGHT = 128
-
-# scenes = ["Beechwood_0_int",
-#           "Beechwood_1_int",
-#           "Benevolence_0_int",
-#           "Benevolence_1_int",
-#           "Benevolence_2_int",
-#           "Ihlen_0_int",
-#           "Ihlen_1_int",
-#           "Merom_0_int",
-#           "Merom_1_int",
-#           "Pomaria_0_int",
-#           "Pomaria_1_int",
-#           "Pomaria_2_int",
-#           "Rs_int",
-#           "Wainscott_0_int",
-#           "Wainscott_1_int"]
+
+gm.HEADLESS = False
+gm.GUI_VIEWPORT_ONLY = True
+gm.RENDER_VIEWER_CAMERA = False
+gm.ENABLE_FLATCACHE = True
+gm.USE_GPU_DYNAMICS = False
+gm.ENABLE_OBJECT_STATES = False
+gm.ENABLE_TRANSITION_RULES = False
+
+# Launch the simulator
+launch_simulator(physics_dt=1/60., rendering_dt=1/60.)
 
 
 def benchmark_scene(scene_name, optimized=False, import_robot=True):
@@ -45,16 +38,8 @@ def benchmark_scene(scene_name, optimized=False, import_robot=True):
     og.sim.import_scene(scene)
     print(time.time() - start)
 
-    og.sim.viewer_camera.set_position_orientation(
-        position=np.array([-13.27634359, -12.70026879,  -2.68970369]),
-        orientation=np.array([0.70597155, 0.10758371, 0.10545935, 0.69203196]),
-    )
-
-    # Hide main viewport
-    og.sim.viewer_visibility = False
-
     if import_robot:
-        turtlebot = Turtlebot(prim_path="/World/robot", name="agent")
+        turtlebot = Turtlebot(prim_path="/World/robot", name="agent", obs_modalities=['rgb'])
         og.sim.import_object(turtlebot)
         og.sim.step()
         if scene_name == "restaurant_hotel":
@@ -74,7 +59,7 @@ def benchmark_scene(scene_name, optimized=False, import_robot=True):
         og.sim.step(render=False)
         physics_end = time.time()
 
-        # og.sim.render()
+        og.sim.render()
         end = time.time()
 
         if i % 100 == 0:
@@ -123,14 +108,10 @@ def benchmark_scene(scene_name, optimized=False, import_robot=True):
         OUTPUT_DIR,
         "scene_benchmark_{}_o_{}_r_{}.pdf".format(scene_name, optimized, import_robot)))
 
-    from IPython import embed; embed()
-
 
 def main():
     for scene in SCENES:
         benchmark_scene(scene, optimized=True, import_robot=True)
-        # og.sim.stop()
-        # benchmark_scene(scene, optimized=True, import_robot=False)
 
     og.shutdown()