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Improve model handling speed #31

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Merged
merged 11 commits into from
May 17, 2024
Merged

Improve model handling speed #31

merged 11 commits into from
May 17, 2024

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@flferretti
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@flferretti flferretti commented Apr 18, 2024 •
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This pull request includes several code improvements and bug fixes. Here is a summary of the changes:

  • Use structural pattern matching (NOTE: This requires Python>=3.10, so I can eventually drop this)
  • Use utf-8 encoding when reading from files (Avoids file read error in Windows)
  • Cache tree transforms
  • Cache gazebo executable path
  • General exceptions improvements
  • General typing improvements

Benchmarks:

%timeit _ = rod.Sdf.load(sdf=urdf_path, is_urdf=True)
< 683 ms ± 24.4 ms per loop (mean ± std. dev. of 7 runs, 1 loop each)
> 434 ms ± 11.9 ms per loop (mean ± std. dev. of 7 runs, 1 loop each)
%timeit sdf.model.switch_frame_convention(frame_convention=rod.FrameConvention.Urdf)
< 511 ms ± 8.95 ms per loop (mean ± std. dev. of 7 runs, 1 loop each)
> 44 ms ± 178 µs per loop (mean ± std. dev. of 7 runs, 10 loops each)
%timeit _ = UrdfExporter.sdf_to_urdf_string(
    sdf=sdf, pretty=True, gazebo_preserve_fixed_joints=True
)
< 549 ms ± 5.71 ms per loop (mean ± std. dev. of 7 runs, 1 loop each)
> 73.1 ms ± 432 µs per loop (mean ± std. dev. of 7 runs, 10 loops each)

C.C. @diegoferigo

@flferretti flferretti marked this pull request as ready for review April 26, 2024 08:40
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@flferretti there are many conflicts after #34 and #35. Do you want to port the changes over the future main? Otherwise I can take care of it since I was the one that introduced all the conflicts.

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@flferretti there are many conflicts after #34 and #35. Do you want to port the changes over the future main? Otherwise I can take care of it since I was the one that introduced all the conflicts.

I can handle that, thank you!

@flferretti flferretti force-pushed the flferretti-patch-1 branch 2 times, most recently from b3d595e to 8d6da11 Compare May 17, 2024 12:59
@flferretti flferretti force-pushed the flferretti-patch-1 branch from 8d6da11 to c4e35b1 Compare May 17, 2024 13:01
@flferretti flferretti force-pushed the flferretti-patch-1 branch from c4e35b1 to c6ccc60 Compare May 17, 2024 13:30
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Ready for review @diegoferigo, I also fixed a minor typo here

rod/src/rod/utils/frame_convention.py

Line 297 in 11d2768

elif frame.attached in {model.name, "__model__"}:

diegoferigo
diegoferigo requested changes May 17, 2024
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Looks almost good, I have only a doubt on a possible change of behavior.

@flferretti flferretti force-pushed the flferretti-patch-1 branch 2 times, most recently from 833f1f9 to bdaf332 Compare May 17, 2024 14:48
@flferretti flferretti force-pushed the flferretti-patch-1 branch from bdaf332 to f19d41c Compare May 17, 2024 14:58
@flferretti flferretti requested a review from diegoferigo May 17, 2024 14:59
diegoferigo
diegoferigo approved these changes May 17, 2024
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Beyond the suggestion below that somehow got lost, this PR looks good thanks! We can finalize the type hints migration with list, dict, set, |None, etc in the future.

@diegoferigo diegoferigo merged commit 1964e85 into ami-iit:main May 17, 2024
@flferretti flferretti deleted the flferretti-patch-1 branch May 20, 2024 07:08
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