diff --git a/omnigibson/examples/profiling/speed.py b/omnigibson/examples/profiling/speed.py
new file mode 100644
index 0000000000..ac13654814
--- /dev/null
+++ b/omnigibson/examples/profiling/speed.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+import os
+import omni
+import logging
+import argparse
+import omnigibson as og
+import json
+
+from omnigibson.macros import gm
+from omnigibson.utils.profiling_utils import *
+
+OUTPUT_DIR = os.path.join(os.path.expanduser("~"), "Desktop")
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument("-p", "--particles", action='store_true')
+parser.add_argument("-s", "--scenes", action='store_true')
+parser.add_argument("-o", "--objects", action='store_true')
+parser.add_argument("-r", "--robots", action='store_true')
+
+
+def main():
+    args = parser.parse_args()
+    # Modify flatcache, pathtracing, GPU, and object state settings
+    gm.ENABLE_FLATCACHE = False
+    gm.ENABLE_OMNI_PARTICLES = False
+    gm.ENABLE_HQ_RENDERING = False
+    gm.ENABLE_OBJECT_STATES = True
+    gm.ENABLE_TRANSITION_RULES = True
+    gm.SHOW_DISCLAIMERS = False
+    # Disable OmniGibson logging
+    log = omni.log.get_log()
+    log.enabled = False
+    og.log.setLevel(logging.FATAL)
+
+    env = ProfilingEnv(configs=dict(scene={"type": "Scene"}), action_timestep=1/60., physics_timestep=1/240.)
+    env.reset()
+
+    results = dict()
+    if args.objects:
+        results["objects"] = benchmark_objects(env)
+    if args.robots:
+        results["robots"] = benchmark_robots(env)
+    if args.scenes:  
+        results["scenes"] = benchmark_scenes(env)
+    if args.particles:
+        results["fluids"] = benchmark_particle_system(env) 
+
+    with open(os.path.join(OUTPUT_DIR, "benchmark_results.json"), 'w') as f:
+        json.dump(results, f)
+    plot_results(results, os.path.join(OUTPUT_DIR, "omnigibson_benchmark.pdf"))
+    og.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/omnigibson/utils/profiling_utils.py b/omnigibson/utils/profiling_utils.py
new file mode 100644
index 0000000000..ed4a75fee4
--- /dev/null
+++ b/omnigibson/utils/profiling_utils.py
@@ -0,0 +1,246 @@
+import gym
+import tqdm
+import numpy as np
+import omnigibson as og
+import matplotlib.pyplot as plt
+
+from time import time
+from omnigibson import object_states
+from omnigibson.objects import PrimitiveObject
+from omnigibson.robots import REGISTERED_ROBOTS
+from omnigibson.utils.asset_utils import get_available_og_scenes
+from omnigibson.envs.env_base import Environment
+from omnigibson.macros import gm
+
+PROFILING_FIELDS = ["total time", "action time", "physics time", "render time", "non physics time", "get observation time", "task time"]
+
+class ProfilingEnv(Environment):
+    def step(self, action):
+        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])
+        action_end = time()
+        # Run simulation step
+        # Possibly force playing
+        for i in range(og.sim.n_physics_timesteps_per_render):
+            super(type(og.sim), og.sim).step(render=False)
+        physics_end = time()
+        og.sim.render()
+        render_end = time()
+        # Additionally run non physics things if we have a valid scene
+        if og.sim._scene is not None:
+            og.sim._omni_update_step()
+            if og.sim.is_playing():
+                og.sim._non_physics_step()
+                if gm.ENABLE_TRANSITION_RULES:
+                    og.sim._transition_rule_step()
+        non_physics_end = time()
+        # Grab observations
+        obs = self.get_obs()
+        obs_end = time()
+        # 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
+        end = time()
+        ret = [end-start, action_end-start, physics_end-action_end, render_end-physics_end, \
+            non_physics_end-render_end, obs_end-non_physics_end, end-obs_end]
+        if self._current_step % 100 == 0:
+            print("total time: {:.3f} ms, action time: {:.3f} ms, physics time: {:.3f} ms, render time: {:.3f} ms, non physics time: {:.3f} ms, get obs time: {:.3f} ms, task time: {:.3f} ms".format(*ret))
+        return obs, reward, done, info, ret
+
+
+def plot_results(results_dict, output_fp):
+    num_plots = np.sum([len(results) for results in results_dict.values()])
+    cur_plot = 1
+    plt.figure(figsize=(7, 3.5 * num_plots))
+    for cat, results in results_dict.items():
+        n_candidates = len(list(results.values())[0])
+        for field in results:
+            result = [results[field][candidate][0] for candidate in results[field]]
+            ax = plt.subplot(num_plots, 1, cur_plot)
+            ax.set_xlabel(f"{cat}: {field}")
+            ax.set_ylabel("time (ms)")
+            plt.bar(range(n_candidates), result, tick_label=list(results[field].keys()))
+            cur_plot += 1
+    plt.tight_layout()
+    plt.savefig(output_fp)
+
+
+def benchmark_objects(env):
+    NUM_ITER = 30
+    NUM_OBJECTS_PER_ITER = 10
+    NUM_STEP_PER_ITER = 200
+
+    og.sim.stop()
+    env.reload({"scene": {"type": "Scene"}})
+    env.reset()
+
+    results = {field: {} for field in PROFILING_FIELDS}
+    for i in tqdm.trange(NUM_ITER):
+        objs = []
+        cur_results = []
+        for j in range(NUM_OBJECTS_PER_ITER):
+            obj = PrimitiveObject(
+                prim_path=f"/World/obj_{i}_{j}",
+                name=f"obj_{i}_{j}",
+                primitive_type="Cube",
+            )
+            og.sim.import_object(obj)
+            obj.set_position(np.array([i, j, 1]) * 1.2)
+        objs.append(obj)
+        og.sim.step()   # always taks a step after importing objects
+        for _ in range(NUM_STEP_PER_ITER):
+            cur_result = env.step(None)
+            cur_results.append(cur_result[4])
+        cur_results = np.array(cur_results)
+        for k, field in enumerate(PROFILING_FIELDS):
+            results[field][(i + 1) * NUM_OBJECTS_PER_ITER] = [
+                np.mean(cur_results[-100:, k]), np.std(cur_results[-100:, k]), np.median(cur_results[-100:, k]), np.max(cur_results[-100:, k]), np.min(cur_results[-100:, k])
+            ]
+        for obj in objs:
+            obj.sleep()
+
+    return results
+
+
+
+def benchmark_robots(env):
+    NUM_STEP = 300
+
+    og.sim.stop()
+    env.reload({"scene": {"type": "Scene"}})
+    env.reset()
+
+    results = {field: {} for field in PROFILING_FIELDS}
+    for robot_name, robot_cls in tqdm.tqdm(REGISTERED_ROBOTS.items()):
+        cur_results = []
+        robot = robot_cls(
+            prim_path=f"/World/{robot_name}",
+            name=robot_name,
+            obs_modalities=[]
+        )
+        og.sim.import_object(robot)
+        og.sim.play()
+        og.sim.step()
+
+        for _ in range(NUM_STEP):
+            cur_result = env.step(np.random.uniform(-0.1, 0.1, robot.action_dim))
+            cur_results.append(cur_result[4])
+        cur_results = np.array(cur_results)
+        for i, field in enumerate(PROFILING_FIELDS):
+            results[field][robot_name] = [
+                np.mean(cur_results[-100:, i]), np.std(cur_results[-100:, i]), np.median(cur_results[-100:, i]), np.max(cur_results[-100:, i]), np.min(cur_results[-100:, i])
+            ]
+        og.sim.stop()
+        og.sim.remove_object(robot)
+    
+    return results
+
+
+
+def benchmark_scenes(env):
+    NUM_STEP = 300
+
+    og.sim.stop()
+
+    results = {field: {} for field in PROFILING_FIELDS}
+    for scene_model in tqdm.tqdm(get_available_og_scenes()[12:13]):
+        cur_results = []
+        env.reload({"scene": {"type": "InteractiveTraversableScene", "scene_model": scene_model}})
+        env.reset()
+
+        for _ in range(NUM_STEP):
+            cur_result = env.step(None)
+            cur_results.append(cur_result[4])
+        cur_results = np.array(cur_results)
+        for i, field in enumerate(PROFILING_FIELDS):
+            results[field][scene_model] = [
+                np.mean(cur_results[-100:, i]), np.std(cur_results[-100:, i]), np.median(cur_results[-100:, i]), np.max(cur_results[-100:, i]), np.min(cur_results[-100:, i])
+            ]
+        og.sim.stop()
+    
+    return results
+
+
+def benchmark_particle_system(env): 
+    NUM_STEP = 300
+
+    og.sim.stop()
+    
+    cfg = {"scene": {"type": "Scene"}}
+
+    def check_toggledon(obj):
+        return obj.states[object_states.ToggledOn].get_value()
+
+    # Define objects to load into the environment
+    sink_cfg = dict(
+        type="DatasetObject",
+        name="sink",
+        category="sink",
+        model="yfaufu",
+        scale=[0.8, 0.8, 0.8],
+        abilities={
+            "toggleable": {},
+            "particleSource": {
+                "conditions": {
+                    "water": [check_toggledon],   # Must be toggled on for water source to be active
+                },
+                "source_radius": 0.0125,
+                "source_height": 0.05,
+                "initial_speed": 0.0,               # Water merely falls out of the spout
+            },
+            "particleSink": {
+                "conditions": {
+                    "water": None,  # No conditions, always sinking nearby particles
+                },
+                "sink_radius": 0.05,
+                "sink_height": 0.05,
+            },
+        },
+        position=[-0.7, 0, 0.56],
+    )
+    cfg["objects"] = [sink_cfg]
+    env.reload(cfg)
+    env.reset()
+    initial_state = og.sim.dump_state()
+    results = {field: {} for field in PROFILING_FIELDS}
+    for cond in tqdm.tqdm([True, False]):
+        cur_results = []
+        gm.ENABLE_OBJECT_STATES = cond
+        og.sim.play()
+        og.sim.step()
+
+        for _ in range(NUM_STEP):
+            cur_result = env.step(None)
+            cur_results.append(cur_result[4])
+        cur_results = np.array(cur_results)
+        for i, field in enumerate(PROFILING_FIELDS):
+            results[field][cond] = [
+                np.mean(cur_results[-100:, i]), np.std(cur_results[-100:, i]), np.median(cur_results[-100:, i]), np.max(cur_results[-100:, i]), np.min(cur_results[-100:, i])
+            ]
+        og.sim.stop()
+        og.sim.load_state(initial_state)
+    
+    return results
+