Remove dead JobSystem-guarded code and fix the README performance images

README.md

@@ -56,11 +56,11 @@ FPS comparison of rendering [Franka](https://github.com/Genesis-Embodied-AI/Gene
 Resolution: 128x128
 
 <p align="center">
-  <img src="./scripts/perf_benchmark/example_report/panda_madrona rasterizer_ madrona raytracer_128x128_comparison_table.png" width="600" alt="FPS of gs-madrona rasterizer vs raytracer" align="center"/>
+  <img src="./docs/perf_franka_128x128_table.png" width="600" alt="FPS of gs-madrona rasterizer vs raytracer" align="center"/>
 </p>
 
 <p align="center">
-  <img src="./scripts/perf_benchmark/example_report/panda_madrona rasterizer_ madrona raytracer_128x128_comparison_plot.png" width="600" alt="FPS of gs-madrona rasterizer vs raytracer" align="center"/>
+  <img src="./docs/perf_franka_128x128_plot.png" width="600" alt="FPS of gs-madrona rasterizer vs raytracer" align="center"/>
 </p>
 
 ## Install (Linux Only)
@@ -104,22 +104,6 @@ renderer = gs.options.renderers.BatchRenderer(
 )
 ```
 
-### Performance Benchmark
-For comprehensive performance benchmarking across multiple renderers (Madrona, Omniverse, PyRender, ManiSkill), please refer to the detailed documentation in `scripts/perf_benchmark/README.md`.
-
-The benchmark suite includes:
-- Multi-renderer performance testing
-- Batch size and resolution scaling tests
-- Rasterizer vs raytracer comparisons
-- Automated report generation
-- Asset preprocessing utilities
-
-Quick start:
-```bash
-cd scripts/perf_benchmark
-python batch_benchmark.py -f benchmark_config_smoke_test.yml
-```
-
 ## Acknowledgments
 
 The development of gs-madrona is actively supported by [Genesis AI](https://genesis-ai.company/).

include/madrona/context.inl

@@ -112,12 +112,6 @@ inline void Context::iterateQuery(const Query<ComponentTs...> &query, Fn &&fn)
         std::forward<Fn>(fn));
 }
 
-#ifdef MADRONA_USE_JOB_SYSTEM
-JobID Context::currentJobID() const
-{
-    return cur_job_id_;
-}
-#endif
 
 #ifdef MADRONA_MW_MODE
 WorldID Context::worldID() const
@@ -126,267 +120,5 @@ WorldID Context::worldID() const
 }
 #endif
 
-#if 0
-
-class Context {
-    AllocContext mem;
-
-    template <typename ArchetypeT>
-    inline ArchetypeRef<ArchetypeT> archetype();
-
-    template <typename ArchetypeT>
-    inline void clearArchetype();
-
-    template <typename ArchetypeT>
-    inline void clearTemporaries();
-
-    template <typename... ComponentTs>
-    inline Query<ComponentTs...> query();
-
-    template <typename... ComponentTs, typename Fn>
-    inline void forEach(const Query<ComponentTs...> &query, Fn &&fn);
-
-    template <typename... ComponentTs>
-    inline uint32_t numMatches(const Query<ComponentTs...> &query);
-
-    // Jobs
-    template <typename Fn, typename... DepTs>
-    inline JobID submit(Fn &&fn, bool is_child = true,
-                        DepTs && ... dependencies);
-
-    template <typename Fn, typename... DepTs>
-    inline JobID submitN(Fn &&fn, uint32_t num_invocations,
-                         bool is_child = true,
-                         DepTs && ... dependencies);
-
-    // FIXME: currently this function requires that the query reference
-    // is valid at least until the returned job is completed.
-    template <typename... ComponentTs, typename Fn, typename... DepTs>
-    inline JobID parallelFor(const Query<ComponentTs...> &query, Fn &&fn,
-                             bool is_child = true,
-                             DepTs && ... dependencies);
-
-    template <typename Fn, typename... DepTs>
-    inline JobID ioRead(const char *path, Fn &&fn, bool is_child = true,
-                        DepTs && ... dependencies);
-
-#ifdef MADRONA_USE_JOB_SYSTEM
-    inline JobID currentJobID() const;
-#endif
-
-    template <typename ContextT, typename Fn, typename... DepTs>
-    inline JobID submitImpl(Fn &&fn, bool is_child, DepTs && ... dependencies);
-
-    template <typename ContextT, typename Fn, typename... DepTs>
-    inline JobID submitNImpl(Fn &&fn, uint32_t num_invocations, bool is_child,
-                             DepTs && ... dependencies);
-
-    template <typename ContextT, typename... ComponentTs, typename Fn,
-              typename... DepTs>
-    inline JobID parallelForImpl(const Query<ComponentTs...> &query, Fn &&fn,
-                                 bool is_child, DepTs && ... dependencies);
-
-private:
-    template <typename ContextT, typename Fn, typename... DepTs>
-    inline JobID submitNImpl(Fn &&fn, uint32_t num_invocations, JobID parent_id,
-                             DepTs && ... dependencies);
-
-#ifdef MADRONA_USE_JOB_SYSTEM
-    JobManager * const job_mgr_;
-    StateManager * const state_mgr_;
-    StateCache * const state_cache_;
-    IOManager * const io_mgr_;
-    const int worker_idx_;
-    JobID cur_job_id_;
-#endif
-
-friend class JobManager;
-};
-
-template <typename ArchetypeT>
-ArchetypeRef<ArchetypeT> Context::archetype()
-{
-    return state_mgr_->archetype<ArchetypeT>(
-        MADRONA_MW_COND(cur_world_id_));
-}
-
-template <typename ArchetypeT>
-void Context::clearArchetype()
-{
-    state_mgr_->clear<ArchetypeT>(MADRONA_MW_COND(cur_world_id_,)
-                                  *state_cache_, false);
-}
-
-template <typename ArchetypeT>
-void Context::clearTemporaries()
-{
-}
-
-template <typename... ComponentTs>
-Query<ComponentTs...> Context::query()
-{
-    return state_mgr_->query<ComponentTs...>();
-}
-
-template <typename... ComponentTs, typename Fn>
-void Context::forEach(const Query<ComponentTs...> &query, Fn &&fn)
-{
-    state_mgr_->iterateQuery(MADRONA_MW_COND(cur_world_id_,) query,
-                                std::forward<Fn>(fn));
-}
-
-template <typename... ComponentTs>
-uint32_t Context::numMatches(const Query<ComponentTs...> &query)
-{
-    uint32_t num_entities = 0;
-    state_mgr_->iterateArchetypes(MADRONA_MW_COND(cur_world_id_,) query,
-            [&](int num_rows, auto ...) {
-        num_entities += num_rows;
-    });
-
-    return num_entities;
-}
-
-template <typename Fn, typename... Deps>
-JobID Context::submit(Fn &&fn, bool is_child, Deps && ... dependencies)
-{
-    return submitImpl<Context>(std::forward<Fn>(fn), is_child,
-                               std::forward<Deps>(dependencies)...);
-}
-
-template <typename Fn, typename... Deps>
-JobID Context::submitN(Fn &&fn, uint32_t num_invocations,
-                       bool is_child, Deps && ... dependencies)
-{
-    return submitNImpl<Context>(std::forward<Fn>(fn), num_invocations,
-        is_child, std::forward<Deps>(dependencies)...);
-}
-
-template <typename... ComponentTs, typename Fn, typename... Deps>
-JobID Context::parallelFor(const Query<ComponentTs...> &query, Fn &&fn,
-                            bool is_child, Deps && ... dependencies)
-{
-    return parallelForImpl<Context>(query, std::forward<Fn>(fn), is_child,
-                                    std::forward<Deps>(dependencies)...);
-}
-
-
-template <typename Fn, typename... Deps>
-inline JobID Context::ioRead(const char *path, Fn &&fn,
-                             bool is_child, Deps && ... dependencies)
-{
-    IOPromise promise = io_mgr_->makePromise();
-    Job job = makeJob([promise, fn=std::move(fn), io_mgr=io_mgr_](
-            Context &ctx) {
-        fn(ctx, io_mgr->getBuffer(promise));
-    });
-
-    io_mgr_->load(promise, path, job);
-
-    (void)is_child;
-    ( (void)dependencies, ... );
-
-    return JobID::none();
-}
-
-// FIXME: implement is_child, dependencies, num_invocations
-template <typename ContextT, typename Fn, typename... Deps>
-JobID Context::submitImpl(Fn &&fn, bool is_child,
-                          Deps &&... dependencies)
-{
-    JobID parent_id = is_child ? cur_job_id_ : JobID::none();
-
-    return job_mgr_->queueJob<ContextT, true>(worker_idx_,
-        std::forward<Fn>(fn), 0, parent_id,
-        MADRONA_MW_COND(cur_world_id_, ) JobPriority::Normal,
-        std::forward<Deps>(dependencies)...);
-}
-
-template <typename ContextT, typename Fn, typename... Deps>
-JobID Context::submitNImpl(Fn &&fn, uint32_t num_invocations, bool is_child,
-                           Deps && ...dependencies)
-{
-    assert(num_invocations > 0);
-    JobID parent_id = is_child ? cur_job_id_ : JobID::none();
-
-    return submitNImpl<ContextT>(std::forward<Fn>(fn), num_invocations,
-        parent_id, std::forward<Deps>(dependencies)...);
-}
-
-template <typename ContextT, typename... ComponentTs, typename Fn,
-          typename... Deps>
-JobID Context::parallelForImpl(const Query<ComponentTs...> &query, Fn &&fn,
-                               bool is_child, Deps && ... dependencies)
-{
-    if (query.numMatchingArchetypes() == 0) {
-        return JobID::none();
-    }
-
-    // FIXME: add isRunnable check in addition to no dependencies
-    if constexpr (sizeof...(dependencies) == 0) {
-        JobID parent_id = is_child ? cur_job_id_ : JobID::none();
-
-        // Additional optimization: skip this proxy ID when only 1 archetype
-        // is present (in fact for > 1 archetype might make sense to just
-        // use the else codepath).
-        JobID proxy_id = job_mgr_->reserveProxyJobID(worker_idx_, parent_id);
-
-        state_mgr_->iterateArchetypes(MADRONA_MW_COND(cur_world_id_,)
-                query, [this, &fn, proxy_id](int num_rows, auto ...ptrs) {
-            if (num_rows == 0) {
-                return;
-            }
-
-            // Clang complains this is unused without this->
-            this->submitNImpl<ContextT>(
-                    [fn = Fn(fn), ptrs...](ContextT &ctx, uint32_t idx) {
-                fn(ctx, ptrs[idx]...);
-            }, num_rows, proxy_id);
-        });
-
-        // Note that even though we "relinquish" the id here, it is still safe
-        // to return the ID, since the generation stored in the ID will simply
-        // be invalid if the entire parallelFor job finishes, just like a normal
-        // job id.
-        job_mgr_->relinquishProxyJobID(worker_idx_, proxy_id);
-
-        return proxy_id;
-    } else {
-        return submitImpl<ContextT>([fn = std::forward<Fn>(fn), &query] (
-                ContextT &ctx) {
-            ctx.state_mgr_->iterateArchetypes(
-                    MADRONA_MW_COND(ctx.cur_world_id_,) query,
-                    [&ctx, &fn](int num_rows, auto ...ptrs) {
-                if (num_rows == 0) {
-                    return;
-                }
-
-                // FIXME reconsider copying ptrs into the closure here
-                // FIXME currently copies the user function's closure
-                // Could allow making a fake jobs with data but not a function
-                // by extending reserveProxyJobID - that job could be dependent
-                // on the parallel for job and hold the user function closure.
-                // If we allowed runtime determined # of dependencies, the
-                // fast path (no dependencies above) could return the dependent
-                // data-only job rather than using the fake ID as a parent
-                ctx.template submitNImpl<ContextT>(
-                        [fn = Fn(fn), ptrs...](ContextT &ctx, uint32_t idx) {
-                    fn(ctx, ptrs[idx]...);
-                }, num_rows, true);
-            });
-        }, is_child, dependencies...);
-    }
-}
-
-template <typename ContextT, typename Fn, typename... Deps>
-JobID Context::submitNImpl(Fn &&fn, uint32_t num_invocations, JobID parent_id,
-                           Deps && ...dependencies)
-{
-    return job_mgr_->queueJob<ContextT, false>(worker_idx_,
-        std::forward<Fn>(fn), num_invocations, parent_id,
-        MADRONA_MW_COND(cur_world_id_, ) JobPriority::Normal,
-        std::forward<Deps>(dependencies)...);
-}
-#endif
 
 }

include/madrona/custom_context.inl

@@ -15,55 +15,5 @@ CustomContext<ContextT, DataT>::CustomContext(DataT *world_data,
     : Context(world_data, worker_init)
 {}
 
-#if 0
-
-template <typename ContextT, typename DataT>
-class CustomContext : public Context {
-public:
-    template <typename Fn, typename... Deps>
-    inline JobID submit(Fn &&fn, bool is_child = true,
-                        Deps && ... dependencies);
-
-    template <typename Fn, typename... Deps>
-    inline JobID submitN(Fn &&fn, uint32_t num_invocations,
-                         bool is_child = true,
-                         Deps && ... dependencies);
-
-    template <typename... ComponentTs, typename Fn, typename... Deps>
-    inline JobID parallelFor(const Query<ComponentTs...> &query, Fn &&fn,
-                             bool is_child = true,
-                             Deps && ... dependencies);
-}
-
-template <typename ContextT, typename DataT>
-template <typename Fn, typename... Deps>
-JobID CustomContext<ContextT, DataT>::submit(Fn &&fn, bool is_child,
-                                             Deps && ... dependencies)
-{
-    return submitImpl<ContextT>(std::forward<Fn>(fn), is_child,
-                                std::forward<Deps>(dependencies)...);
-}
-
-template <typename ContextT, typename DataT>
-template <typename Fn, typename... Deps>
-JobID CustomContext<ContextT, DataT>::submitN(Fn &&fn,
-    uint32_t num_invocations, bool is_child, Deps && ... dependencies)
-{
-    return submitNImpl<ContextT>(
-        std::forward<Fn>(fn), num_invocations, is_child,
-        std::forward<Deps>(dependencies)...);
-}
-
-template <typename ContextT, typename DataT>
-template <typename... ComponentTs, typename Fn, typename... Deps>
-JobID CustomContext<ContextT, DataT>::parallelFor(
-    const Query<ComponentTs...> &query, Fn &&fn, bool is_child,
-    Deps && ... dependencies)
-{
-    return parallelForImpl<ContextT>(query, std::forward<Fn>(fn), is_child,
-                                      std::forward<Deps>(dependencies)...);
-}
-
-#endif
 
 }

src/core/context.cpp

@@ -13,14 +13,6 @@ namespace madrona {
 
 Context::Context(WorldBase *world_data, const WorkerInit &init)
     : data_(world_data)
-#ifdef MADRONA_USE_JOB_SYSTEM
-      , job_mgr_(init.jobMgr),
-      state_mgr_(init.stateMgr),
-      state_cache_(init.stateCache),
-      io_mgr_(nullptr),
-      worker_idx_(init.workerIdx),
-      cur_job_id_(JobID::none())
-#endif
 #ifdef MADRONA_USE_TASK_GRAPH
       , state_mgr_(init.stateMgr)
       , state_cache_(init.stateCache)