From 7357d0c404347c4b1d57f3f79c7e555bc086fcb2 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 5 Mar 2024 15:04:34 -0800 Subject: [PATCH 01/43] Init tablet tool support --- body/stretch_body/end_of_arm_tools.py | 27 ++++++++++++++++ body/stretch_body/gamepad_teleop.py | 2 +- body/stretch_body/robot_params_SE3.py | 46 ++++++++++++++++++++++++++- 3 files changed, 73 insertions(+), 2 deletions(-) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index 45a149ec..72f7192c 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -127,3 +127,30 @@ def home(self): self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() self.motors['stretch_gripper'].home() + +class EOA_Wrist_DW3_Tool_Tablet_12in(EndOfArm): + """ + Wrist Yaw / Pitch / Roll + 12in Tablet + """ + def __init__(self, name='eoa_wrist_dw3_tool_tablet_12in'): + EndOfArm.__init__(self, name) + + #This maps from the name of a joint in the URDF to the name of the joint in Stretch Body + #It is used by CollisionMgmt + self.urdf_map={ + 'joint_wrist_yaw':'wrist_yaw', + 'joint_wrist_pitch': 'wrist_pitch', + 'joint_wrist_roll':'wrist_roll' #Not mapping fingers for collision mgmt yet + } + + def stow(self): + # Fold Arm, Wrist yaw turns left making the tabled screen face forward. + print('--------- Stowing %s ----'%self.name) + self.move_to('wrist_pitch', self.params['stow']['wrist_pitch']) + self.move_to('wrist_roll', self.params['stow']['wrist_roll']) + self.move_to('wrist_yaw', self.params['stow']['wrist_yaw']) + + def home(self): + self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) + self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) + self.motors['wrist_yaw'].home() diff --git a/body/stretch_body/gamepad_teleop.py b/body/stretch_body/gamepad_teleop.py index 2d9217bd..bd173e6c 100644 --- a/body/stretch_body/gamepad_teleop.py +++ b/body/stretch_body/gamepad_teleop.py @@ -96,7 +96,7 @@ def using_stretch_gripper(self): or self.end_of_arm_tool == 'tool_stretch_gripper' def using_dexwrist(self): return self.end_of_arm_tool == 'tool_stretch_dex_wrist' or self.end_of_arm_tool == 'eoa_wrist_dw3_tool_sg3' \ - or self.end_of_arm_tool == 'eoa_wrist_dw3_tool_nil' + or self.end_of_arm_tool == 'eoa_wrist_dw3_tool_nil' or self.end_of_arm_tool == 'eoa_wrist_dw3_tool_tablet_12in' def command_robot_joints(self, robot): """ diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index bd5e2e1c..6e0f28ec 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -377,6 +377,49 @@ } }} + +SE3_eoa_wrist_dw3_tool_tablet_12in={ + 'py_class_name': 'EOA_Wrist_DW3_Tool_Tablet_12in', + 'py_module_name': 'stretch_body.end_of_arm_tools', + 'use_group_sync_read': 1, + 'retry_on_comm_failure': 1, + 'baud': 115200, + 'dxl_latency_timer': 64, + 'wrist': 'eoaw_dw3', + 'tool': 'eoat_nil', + 'stow': { + 'arm': 0.0, + 'lift': 0.3, + 'wrist_pitch': 0.0, + 'wrist_roll': 0.0, + 'wrist_yaw': 1.57 + }, + 'collision_mgmt': { + 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw': 0.25, 'wrist_roll': 0.25}, + 'collision_pairs': { + 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, + 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}}, + 'joints': {'lift': [{'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_wrist_yaw_bottom_TO_base_link'}]}}, + + 'devices': { + 'wrist_pitch': { + 'py_class_name': 'WristPitch', + 'py_module_name': 'stretch_body.wrist_pitch', + 'device_params': 'SE3_wrist_pitch_DW3' + }, + 'wrist_roll': { + 'py_class_name': 'WristRoll', + 'py_module_name': 'stretch_body.wrist_roll', + 'device_params': 'SE3_wrist_roll_DW3' + }, + 'wrist_yaw': { + 'py_class_name': 'WristYaw', + 'py_module_name': 'stretch_body.wrist_yaw', + 'device_params': 'SE3_wrist_yaw_DW3' + } + }} + # ###################################33 # Baseline Nominal Params nominal_params={ @@ -384,9 +427,10 @@ #Each EOA will get expanded at runtime into its full parameter dictionary # Eg, supported_eoa.tool_none --> adds the wrist_yaw param dict to nominal_params # Add all formally supported EOA to this list - 'supported_eoa': ['eoa_wrist_dw3_tool_nil','eoa_wrist_dw3_tool_sg3'], + 'supported_eoa': ['eoa_wrist_dw3_tool_nil','eoa_wrist_dw3_tool_sg3', 'eoa_wrist_dw3_tool_tablet_12in'], 'eoa_wrist_dw3_tool_nil': SE3_eoa_wrist_dw3_tool_nil, 'eoa_wrist_dw3_tool_sg3': SE3_eoa_wrist_dw3_tool_sg3, + 'eoa_wrist_dw3_tool_tablet_12in': SE3_eoa_wrist_dw3_tool_tablet_12in, 'arm':{ 'usb_name': '/dev/hello-motor-arm', 'use_vel_traj': 1, From f304ea36432176cbda691213acd8996710822611 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 5 Mar 2024 17:30:11 -0800 Subject: [PATCH 02/43] First pass collision and stow for tablet --- body/stretch_body/robot_params_SE3.py | 23 ++++++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 6e0f28ec..5138a604 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -395,12 +395,29 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw': 0.25, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':5, 'wrist_roll': 0.25}, 'collision_pairs': { + 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, + 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}}, - 'joints': {'lift': [{'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, - {'motion_dir': 'neg', 'collision_pair': 'link_wrist_yaw_bottom_TO_base_link'}]}}, + + 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}], + 'lift': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_wrist_yaw_bottom_TO_base_link'}], + 'wrist_pitch': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}], + 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}], + 'wrist_yaw': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}] + } + }, 'devices': { 'wrist_pitch': { From 5c68db37bda6db265aec84a0d904c85624b20350 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 5 Mar 2024 18:39:17 -0800 Subject: [PATCH 03/43] Fixed homing and stowing with tablet --- body/stretch_body/end_of_arm_tools.py | 6 +++++- body/stretch_body/robot.py | 13 ++++++++++--- body/stretch_body/robot_params_SE3.py | 2 +- 3 files changed, 16 insertions(+), 5 deletions(-) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index 72f7192c..a0408088 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -1,4 +1,6 @@ from stretch_body.end_of_arm import * +import threading +import time # ############# STRETCH RE1 / RE2 ####################### class ToolNone(EndOfArm): @@ -151,6 +153,8 @@ def stow(self): self.move_to('wrist_yaw', self.params['stow']['wrist_yaw']) def home(self): - self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) + self.motors['wrist_pitch'].move_to(-1.57) self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() + self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) + time.sleep(1) \ No newline at end of file diff --git a/body/stretch_body/robot.py b/body/stretch_body/robot.py index 6609a75f..013fc70e 100644 --- a/body/stretch_body/robot.py +++ b/body/stretch_body/robot.py @@ -581,11 +581,18 @@ def home(self): # Wrist pitch should be angled somewhere in between the lift leaving # the base of its range and before it reaches the top of its range. - def _angle_pitch(): + def _angle_pitch(angle): time.sleep(1) # wait 1 sec to leave bottom of lift's range if 'wrist_pitch' in self.end_of_arm.joints: - self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) - threading.Thread(target=_angle_pitch).start() + self.end_of_arm.move_to('wrist_pitch', angle) + + # If gripper present + if 'stretch_gripper' in self.end_of_arm.joints: + threading.Thread(target=_angle_pitch,args=(self.end_of_arm.params['stow']['wrist_pitch'],)).start() + + # No gripper but tablet or accessory present in dw3 wrist, wrist pitch should face downward + elif 'wrist_pitch' in self.end_of_arm.joints: + threading.Thread(target=_angle_pitch,args=(-1.57,)).start() # Home the lift if self.lift is not None: diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 5138a604..148a5b24 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -395,7 +395,7 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':5, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':1, 'wrist_roll': 0.25}, 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, From 610230369b98ca30289c93ecc07d18e311af49ce Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Wed, 6 Mar 2024 15:17:32 -0800 Subject: [PATCH 04/43] Add dynamixel group level set_velocity API --- body/stretch_body/end_of_arm.py | 9 +++++++++ body/stretch_body/end_of_arm_tools.py | 22 +++++++++++++++++++- body/stretch_body/gamepad_joints.py | 29 +++++++++++++-------------- body/stretch_body/head.py | 8 ++++++++ body/stretch_body/robot_params_SE3.py | 14 +++++++++++++ 5 files changed, 66 insertions(+), 16 deletions(-) diff --git a/body/stretch_body/end_of_arm.py b/body/stretch_body/end_of_arm.py index 0d3bae0e..446d1af1 100644 --- a/body/stretch_body/end_of_arm.py +++ b/body/stretch_body/end_of_arm.py @@ -62,6 +62,15 @@ def move_by(self, joint, x_r, v_r=None, a_r=None): """ with self.pt_lock: self.motors[joint].move_by(x_r, v_r, a_r) + + def set_velocity(self, joint, v_r, a_r=None): + """ + joint: name of joint (string) + v_r: commanded velocity (rad/s). + a_r: acceleration motion profile (rad/s^2) + """ + with self.pt_lock: + self.motors[joint].set_velocity(v_r, a_r) def pose(self,joint, p,v_r=None, a_r=None): """ diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index a0408088..13fecfaa 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -136,7 +136,7 @@ class EOA_Wrist_DW3_Tool_Tablet_12in(EndOfArm): """ def __init__(self, name='eoa_wrist_dw3_tool_tablet_12in'): EndOfArm.__init__(self, name) - + self.portrait_orientation = self.params['portrait_orientation'] #This maps from the name of a joint in the URDF to the name of the joint in Stretch Body #It is used by CollisionMgmt self.urdf_map={ @@ -144,6 +144,23 @@ def __init__(self, name='eoa_wrist_dw3_tool_tablet_12in'): 'joint_wrist_pitch': 'wrist_pitch', 'joint_wrist_roll':'wrist_roll' #Not mapping fingers for collision mgmt yet } + + def move_by(self, joint, x_r, v_r=None, a_r=None, homing = False): + if joint=='wrist_roll': + if homing: + return EndOfArm.move_by(self, joint, x_r, v_r, a_r) + else: + return None + return EndOfArm.move_by(self, joint, x_r, v_r, a_r) + + def move_to(self, joint, x_r, v_r=None, a_r=None, homing=False): + if joint=='wrist_roll': + if homing: + return EndOfArm.move_by(self, joint, x_r, v_r, a_r) + else: + return None + return EndOfArm.move_to(self, joint, x_r, v_r, a_r) + def stow(self): # Fold Arm, Wrist yaw turns left making the tabled screen face forward. @@ -153,7 +170,10 @@ def stow(self): self.move_to('wrist_yaw', self.params['stow']['wrist_yaw']) def home(self): + # Tablet should face completely downwards during homing self.motors['wrist_pitch'].move_to(-1.57) + while self.motors['wrist_pitch'].motor.is_moving(): + time.sleep(0.2) self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) diff --git a/body/stretch_body/gamepad_joints.py b/body/stretch_body/gamepad_joints.py index 5734f84d..7e55b19c 100644 --- a/body/stretch_body/gamepad_joints.py +++ b/body/stretch_body/gamepad_joints.py @@ -439,10 +439,6 @@ def command_stick_to_motion(self, x, robot): x (float): Range [-1.0,+1.0], control servo speed robot (robot.Robot): Valid robot instance """ - if 'wrist' in self.name: - motor = robot.end_of_arm.get_joint(self.name) - if 'head' in self.name: - motor = robot.head.get_joint(self.name) if abs(x) Date: Wed, 6 Mar 2024 15:26:28 -0800 Subject: [PATCH 05/43] lock wrist_roll joint for tablet tool --- body/stretch_body/end_of_arm_tools.py | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index 13fecfaa..d4f009fd 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -145,22 +145,32 @@ def __init__(self, name='eoa_wrist_dw3_tool_tablet_12in'): 'joint_wrist_roll':'wrist_roll' #Not mapping fingers for collision mgmt yet } - def move_by(self, joint, x_r, v_r=None, a_r=None, homing = False): + def move_by(self, joint, x_r, v_r=None, a_r=None, enable_wrist_roll = False): + # Lock wrist roll by default if joint=='wrist_roll': - if homing: + if enable_wrist_roll: return EndOfArm.move_by(self, joint, x_r, v_r, a_r) else: return None return EndOfArm.move_by(self, joint, x_r, v_r, a_r) - def move_to(self, joint, x_r, v_r=None, a_r=None, homing=False): + def move_to(self, joint, x_r, v_r=None, a_r=None, enable_wrist_roll = False): + # Lock wrist roll by default if joint=='wrist_roll': - if homing: + if enable_wrist_roll: return EndOfArm.move_by(self, joint, x_r, v_r, a_r) else: return None return EndOfArm.move_to(self, joint, x_r, v_r, a_r) - + + def set_velocity(self, joint, v_r, a_r=None, enable_wrist_roll = False): + # Lock wrist roll by default + if joint=='wrist_roll': + if enable_wrist_roll: + return EndOfArm.set_velocity(self, joint, v_r, a_r) + else: + return None + return EndOfArm.set_velocity(self, joint, v_r, a_r) def stow(self): # Fold Arm, Wrist yaw turns left making the tabled screen face forward. From d6ee4e08d010bad1e98cfa5d4a744ba01dcb42c3 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 7 Mar 2024 19:26:22 -0800 Subject: [PATCH 06/43] Add more collision pair links and joints mapping, included pre stove method --- body/stretch_body/end_of_arm.py | 3 +++ body/stretch_body/end_of_arm_tools.py | 28 ++++++++++++++++++++++++++- body/stretch_body/robot.py | 7 +++---- body/stretch_body/robot_params_SE3.py | 20 ++++++++++++------- 4 files changed, 46 insertions(+), 12 deletions(-) diff --git a/body/stretch_body/end_of_arm.py b/body/stretch_body/end_of_arm.py index 446d1af1..10c240e9 100644 --- a/body/stretch_body/end_of_arm.py +++ b/body/stretch_body/end_of_arm.py @@ -85,6 +85,9 @@ def pose(self,joint, p,v_r=None, a_r=None): def stow(self): pass #Override by specific tool + def pre_stow(self,robot=None): + pass #Override by specific tool + def home(self, joint=None): """ Home to hardstops diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index d4f009fd..ef054f72 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -75,6 +75,10 @@ def home(self): self.motors['wrist_roll'].move_to(0) self.motors['wrist_yaw'].home() + def pre_stow(self): + if 'wrist_pitch' in self.end_of_arm.joints: + self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) + # ##########################################################3# class EOA_Wrist_DW3_Tool_NIL(EndOfArm): """ @@ -101,6 +105,9 @@ def home(self): self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() + def pre_stow(self): + if 'wrist_pitch' in self.end_of_arm.joints: + self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) class EOA_Wrist_DW3_Tool_SG3(EndOfArm): """ @@ -124,11 +131,16 @@ def stow(self): self.move_to('wrist_roll', self.params['stow']['wrist_roll']) self.move_to('wrist_yaw', self.params['stow']['wrist_yaw']) self.move_to('stretch_gripper', self.params['stow']['stretch_gripper']) + def home(self): self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() self.motors['stretch_gripper'].home() + + def pre_stow(self): + if 'wrist_pitch' in self.end_of_arm.joints: + self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) class EOA_Wrist_DW3_Tool_Tablet_12in(EndOfArm): """ @@ -171,13 +183,27 @@ def set_velocity(self, joint, v_r, a_r=None, enable_wrist_roll = False): else: return None return EndOfArm.set_velocity(self, joint, v_r, a_r) + + def pre_stow(self,robot=None): + if robot: + if robot.lift.status['pos'] > 0.9: + robot.lift.move_by(-0.2) + robot.push_command() + time.sleep(0.25) + while robot.lift.motor.status['is_moving']: + time.sleep(0.1) + + if not (2 > self.motors['wrist_yaw'].status['pos'] > 0): + self.move_to('wrist_pitch',-1.57) def stow(self): # Fold Arm, Wrist yaw turns left making the tabled screen face forward. print('--------- Stowing %s ----'%self.name) - self.move_to('wrist_pitch', self.params['stow']['wrist_pitch']) self.move_to('wrist_roll', self.params['stow']['wrist_roll']) self.move_to('wrist_yaw', self.params['stow']['wrist_yaw']) + time.sleep(1) + self.move_to('wrist_pitch', self.params['stow']['wrist_pitch']) + time.sleep(1) def home(self): # Tablet should face completely downwards during homing diff --git a/body/stretch_body/robot.py b/body/stretch_body/robot.py index 013fc70e..979dfcbe 100644 --- a/body/stretch_body/robot.py +++ b/body/stretch_body/robot.py @@ -540,10 +540,9 @@ def stow(self): while not self.lift.motor.status['near_pos_setpoint'] and time.time() - ts < 4.0: time.sleep(0.1) lift_stowed=True - - # Wrist pitch should be lifted up before closing the arm - if 'wrist_pitch' in self.end_of_arm.joints: - self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) + + # Run pre stow specific to each end of arm + self.end_of_arm.pre_stow(self) #Bring in arm before bring down print('--------- Stowing Arm ----') diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 9756eec1..ed6fee2f 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -252,6 +252,9 @@ 'current_float_A': 0.04, 'current_limit_A': 1.0} +SE3_wrist_roll_DW3_tablet = SE3_wrist_roll_DW3 +SE3_wrist_roll_DW3_tablet['float_on_stop'] = 0 + # ######### EndOfArm Defn ############## """ Define the EndOfArm DynamixelXChain parameters @@ -396,27 +399,30 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':1, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 1, 'wrist_yaw':1, 'wrist_roll': 0.25}, 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, - 'link_DW3_tablet_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}}, 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, - {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}], + {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'lift': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, - {'motion_dir': 'neg', 'collision_pair': 'link_wrist_yaw_bottom_TO_base_link'}], + {'motion_dir': 'neg', 'collision_pair': 'link_wrist_yaw_bottom_TO_base_link'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'wrist_pitch': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}], + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}], @@ -426,7 +432,7 @@ {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}], - 'wrist_yaw': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_link_head_tilt'}], + 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}] @@ -442,7 +448,7 @@ 'wrist_roll': { 'py_class_name': 'WristRoll', 'py_module_name': 'stretch_body.wrist_roll', - 'device_params': 'SE3_wrist_roll_DW3' + 'device_params': 'SE3_wrist_roll_DW3_tablet' }, 'wrist_yaw': { 'py_class_name': 'WristYaw', From e3c97b600f8cb9c7e64e236025121366fc36ce90 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 8 Mar 2024 18:33:10 -0800 Subject: [PATCH 07/43] Check if joint pose changed before collision stop reset --- body/stretch_body/prismatic_joint.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 02ffb1fc..bb0f8f7d 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -598,10 +598,13 @@ def step_collision_avoidance(self,in_collision): self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() + self.collision_stop_pos = self.status['pos'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: - self.in_collision_stop[dir] = False + # Make sure the joint pose has changed before reseting the in_collision_stop flag + if abs(self.collision_stop_pos - self.status['pos'])>0.05: + self.in_collision_stop[dir] = False From 2b04904ee8a55b79d0c86bcfab7167392256750b Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 8 Mar 2024 19:16:52 -0800 Subject: [PATCH 08/43] Added todo --- body/stretch_body/prismatic_joint.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index bb0f8f7d..98ca6cbf 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -603,6 +603,10 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: # Make sure the joint pose has changed before reseting the in_collision_stop flag + + ### TODO: Try calculating if a minimum threshold distance between the current collision pair has exceeded + ######### before re-setting the in_collision_stop. Using the joint displacement error makes one prismatic joint + ######### in collision locked even if moving the other gets it out of collision event. if abs(self.collision_stop_pos - self.status['pos'])>0.05: self.in_collision_stop[dir] = False From 15eae5ce34a27de1f785d48be84a98dd79920979 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 11 Mar 2024 17:16:51 -0700 Subject: [PATCH 09/43] Implemented a collision pair min distance aware joints --- body/stretch_body/prismatic_joint.py | 9 ++++--- body/stretch_body/robot_collision.py | 38 ++++++++++++++++++++++++++-- 2 files changed, 42 insertions(+), 5 deletions(-) diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 98ca6cbf..dedc0241 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -598,7 +598,7 @@ def step_collision_avoidance(self,in_collision): self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() - self.collision_stop_pos = self.status['pos'] + self.last_collision_pair_min_dist = in_collision['min_dist_pair'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: @@ -607,8 +607,11 @@ def step_collision_avoidance(self,in_collision): ### TODO: Try calculating if a minimum threshold distance between the current collision pair has exceeded ######### before re-setting the in_collision_stop. Using the joint displacement error makes one prismatic joint ######### in collision locked even if moving the other gets it out of collision event. - if abs(self.collision_stop_pos - self.status['pos'])>0.05: - self.in_collision_stop[dir] = False + if in_collision['min_dist_pair']: + print(in_collision['min_dist_pair']) + if self.last_collision_pair_min_dist['pair_name']==in_collision['min_dist_pair']['pair_name']: + if abs(self.last_collision_pair_min_dist['dist'] - in_collision['min_dist_pair']['dist'])>0.01: + self.in_collision_stop[dir] = False diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 697bfb76..3cb7b606 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -7,6 +7,7 @@ import time import threading import chime +import math try: # works on ubunut 22.04 @@ -101,6 +102,24 @@ def check_ppd_edges_in_cube(cube,cube_edge,edge_indices): return True return False +def distance(point1, point2): + return math.sqrt((point1[0] - point2[0])**2 + (point1[1] - point2[1])**2 + (point1[2] - point2[2])**2) + +def closest_pair_3d(points1, points2): + """ + Find the closest pair of 3D points from two lists of 3D points. + """ + closest_distance = float('inf') + closest_pair = None + + for p1 in points1: + for p2 in points2: + dist = distance(p1, p2) + if dist < closest_distance: + closest_distance = dist + closest_pair = (p1, p2) + + return closest_pair, closest_distance # ####################################################################### class CollisionLink: @@ -228,11 +247,20 @@ def __init__(self, joint_name,motor): self.active_collisions=[] self.collision_pairs=[] self.collision_dirs={} - self.in_collision={'pos':False,'neg':False} + self.in_collision={'pos':False,'neg':False, 'min_dist_pair':None} self.was_in_collision = {'pos': False, 'neg': False} + def add_collision_pair(self,motion_dir, collision_pair): self.collision_pairs.append(collision_pair) self.collision_dirs[collision_pair.name]=motion_dir + + def update_collision_pair_min_dist(self,pair_name): + for cp in self.collision_pairs: + if cp.name == pair_name: + _,dist = closest_pair_3d(cp.link_cube.pose,cp.link_pts.pose) + self.in_collision['min_dist_pair'] = {'pair_name':pair_name,'dist':dist} + return + def pretty_print(self): print('-------Collision Joint: %s-----------------'%self.name) for cp in self.collision_pairs: @@ -371,7 +399,9 @@ def step(self,cfg=None): for joint_name in self.collision_joints: self.collision_joints[joint_name].active_collisions=[] self.collision_joints[joint_name].was_in_collision = self.collision_joints[joint_name].in_collision.copy() - self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False} + # self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False, 'min_dist_pair':None} + self.collision_joints[joint_name].in_collision['pos'] = False + self.collision_joints[joint_name].in_collision['neg'] = False # Test for collisions across all collision pairs for pair_name in self.collision_pairs: @@ -404,7 +434,11 @@ def step(self,cfg=None): if cp.in_collision: cj.active_collisions.append(cp.name) #Add collision to joint cj.in_collision[cj.collision_dirs[cp.name]] = True + cj.update_collision_pair_min_dist(cp.name) + #Finally, update the collision state for each joint + if cj.in_collision['min_dist_pair']: + self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['min_dist_pair']['pair_name']) self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) def alert(self): From 6ce0df0da7ca449849cc3b3a5267fe47b46887a1 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 11 Mar 2024 18:22:56 -0700 Subject: [PATCH 10/43] Add more collision pairs --- body/stretch_body/dynamixel_hello_XL430.py | 8 +++++++- body/stretch_body/prismatic_joint.py | 16 ++++++---------- body/stretch_body/robot_collision.py | 10 +++++----- body/stretch_body/robot_params_SE3.py | 6 +++++- 4 files changed, 23 insertions(+), 17 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 5b189a81..7e7f98f7 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -455,10 +455,16 @@ def step_collision_avoidance(self,in_collision): self.ts_collision_stop[dir] = time.time() self.quick_stop() self.in_collision_stop[dir] = True + self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: - self.in_collision_stop[dir] = False + # Check if the minimum distance between the last active collision pair has changed before reset + if in_collision['las_cp_min_dist']: + print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") + if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: + if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: + self.in_collision_stop[dir] = False def get_braking_distance(self,acc=None): """Compute distance to brake the joint from the current velocity""" diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index dedc0241..19c95e56 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -598,19 +598,15 @@ def step_collision_avoidance(self,in_collision): self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() - self.last_collision_pair_min_dist = in_collision['min_dist_pair'] + self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: - # Make sure the joint pose has changed before reseting the in_collision_stop flag - - ### TODO: Try calculating if a minimum threshold distance between the current collision pair has exceeded - ######### before re-setting the in_collision_stop. Using the joint displacement error makes one prismatic joint - ######### in collision locked even if moving the other gets it out of collision event. - if in_collision['min_dist_pair']: - print(in_collision['min_dist_pair']) - if self.last_collision_pair_min_dist['pair_name']==in_collision['min_dist_pair']['pair_name']: - if abs(self.last_collision_pair_min_dist['dist'] - in_collision['min_dist_pair']['dist'])>0.01: + # Check if the minimum distance between the last active collision pair has changed before reset + if in_collision['las_cp_min_dist']: + print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") + if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: + if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: self.in_collision_stop[dir] = False diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 3cb7b606..0a1d456d 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -247,7 +247,7 @@ def __init__(self, joint_name,motor): self.active_collisions=[] self.collision_pairs=[] self.collision_dirs={} - self.in_collision={'pos':False,'neg':False, 'min_dist_pair':None} + self.in_collision={'pos':False,'neg':False, 'las_cp_min_dist':None} self.was_in_collision = {'pos': False, 'neg': False} def add_collision_pair(self,motion_dir, collision_pair): @@ -258,7 +258,7 @@ def update_collision_pair_min_dist(self,pair_name): for cp in self.collision_pairs: if cp.name == pair_name: _,dist = closest_pair_3d(cp.link_cube.pose,cp.link_pts.pose) - self.in_collision['min_dist_pair'] = {'pair_name':pair_name,'dist':dist} + self.in_collision['las_cp_min_dist'] = {'pair_name':pair_name,'dist':dist} return def pretty_print(self): @@ -435,10 +435,10 @@ def step(self,cfg=None): cj.active_collisions.append(cp.name) #Add collision to joint cj.in_collision[cj.collision_dirs[cp.name]] = True cj.update_collision_pair_min_dist(cp.name) - + + if cj.in_collision['las_cp_min_dist']: + self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['las_cp_min_dist']['pair_name']) #Finally, update the collision state for each joint - if cj.in_collision['min_dist_pair']: - self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['min_dist_pair']['pair_name']) self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) def alert(self): diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index ed6fee2f..10bc6d39 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -401,10 +401,14 @@ 'collision_mgmt': { 'k_brake_distance': {'wrist_pitch': 1, 'wrist_yaw':1, 'wrist_roll': 0.25}, 'collision_pairs': { + 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'base_link', 'detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'link_arm_l0','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'link_arm_l1','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'link_head_tilt','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, From de1a1d26d72d7dc1ea362d3cde696da705005760 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 11 Mar 2024 18:27:20 -0700 Subject: [PATCH 11/43] fix wrist yaw collision pairs --- body/stretch_body/robot_params_SE3.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 10bc6d39..b141d67c 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -434,7 +434,9 @@ 'wrist_yaw': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}], + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, + {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], From a3f55dc122d95a83712da7e7e6442ac847706693 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 15 Mar 2024 18:03:03 -0700 Subject: [PATCH 12/43] Remove Gamepad stowing block in loop --- body/stretch_body/gamepad_teleop.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/body/stretch_body/gamepad_teleop.py b/body/stretch_body/gamepad_teleop.py index bd173e6c..bc64209d 100644 --- a/body/stretch_body/gamepad_teleop.py +++ b/body/stretch_body/gamepad_teleop.py @@ -15,6 +15,7 @@ import click import numpy as np import subprocess +import threading """ The GamePadTeleop runs the Stretch's main gamepad controller that ships with @@ -91,6 +92,8 @@ def __init__(self, robot_instance = True, print_dongle_status = True, lock=None, self.left_stick_button_fn = None self.right_stick_button_fn = None + self.currently_stowing = False + def using_stretch_gripper(self): return self.end_of_arm_tool == 'tool_stretch_dex_wrist' or self.end_of_arm_tool == 'eoa_wrist_dw3_tool_sg3' \ or self.end_of_arm_tool == 'tool_stretch_gripper' @@ -241,7 +244,7 @@ def do_motion(self, state = None, robot = None): if not robot.is_homed() and self.controller_state['start_button_pressed']: self.do_single_beep(robot) robot.home() - if robot.is_homed(): + if robot.is_homed() and not self.currently_stowing: if self.gamepad_controller.is_gamepad_dongle: self.command_robot_joints(robot) else: @@ -337,10 +340,11 @@ def manage_robot_stow(self, robot, button_state): if not self._last_fn_btn_press: self._last_fn_btn_press = time.time() - if time.time() - self._last_fn_btn_press >= 2: + if time.time() - self._last_fn_btn_press >= 2 and not self.currently_stowing: self.do_single_beep(robot) self._last_fn_btn_press = None - self.stow_robot(robot) + threading.Thread(target=self.stow_robot,args=(robot,),daemon=True).start() + # self.stow_robot(robot) else: self._last_fn_btn_press = None @@ -412,11 +416,13 @@ def _safety_stop(self, robot): def stow_robot(self, robot): if robot.is_homed(): # Reset motion params as fast for xbox + self.currently_stowing = True v = robot.end_of_arm.motors['wrist_yaw'].params['motion']['default']['vel'] a = robot.end_of_arm.motors['wrist_yaw'].params['motion']['default']['accel'] robot.end_of_arm.motors['wrist_yaw'].set_motion_params(v, a) robot.stow() self.do_single_beep(robot) + self.currently_stowing = False def stop(self): if self._needs_robot_startup: From 4cdf27ed9773ecd409d5d9985a415c6032634a7d Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 15 Mar 2024 18:19:20 -0700 Subject: [PATCH 13/43] update homing stow pose for tablet tool --- body/stretch_body/end_of_arm_tools.py | 1 + 1 file changed, 1 insertion(+) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index ef054f72..4a38bcb2 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -213,4 +213,5 @@ def home(self): self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) + self.motors['wrist_yaw'].move_to(1.57) time.sleep(1) \ No newline at end of file From 1c6bb9bfcb2c78829d966f503b1c2a4193917a81 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 19 Mar 2024 23:35:24 -0700 Subject: [PATCH 14/43] Add tablet orientation set APIs --- body/stretch_body/end_of_arm_tools.py | 18 ++++++++++++++++-- body/stretch_body/gamepad_teleop.py | 2 +- body/stretch_body/robot_collision.py | 5 +---- 3 files changed, 18 insertions(+), 7 deletions(-) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index 4a38bcb2..a923a751 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -195,11 +195,25 @@ def pre_stow(self,robot=None): if not (2 > self.motors['wrist_yaw'].status['pos'] > 0): self.move_to('wrist_pitch',-1.57) + + def switch_to_portrait_mode(self): + self.portrait_orientation = True + self.reset_tablet_orientation() + + def switch_to_landscape_mode(self): + self.portrait_orientation = False + self.reset_tablet_orientation() + + def reset_tablet_orientation(self): + if self.portrait_orientation: + self.motors['wrist_roll'].move_to(1.57) + else: + self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) def stow(self): # Fold Arm, Wrist yaw turns left making the tabled screen face forward. print('--------- Stowing %s ----'%self.name) - self.move_to('wrist_roll', self.params['stow']['wrist_roll']) + self.reset_tablet_orientation() self.move_to('wrist_yaw', self.params['stow']['wrist_yaw']) time.sleep(1) self.move_to('wrist_pitch', self.params['stow']['wrist_pitch']) @@ -210,7 +224,7 @@ def home(self): self.motors['wrist_pitch'].move_to(-1.57) while self.motors['wrist_pitch'].motor.is_moving(): time.sleep(0.2) - self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) + self.reset_tablet_orientation() self.motors['wrist_yaw'].home() self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) self.motors['wrist_yaw'].move_to(1.57) diff --git a/body/stretch_body/gamepad_teleop.py b/body/stretch_body/gamepad_teleop.py index bc64209d..d9b109f2 100644 --- a/body/stretch_body/gamepad_teleop.py +++ b/body/stretch_body/gamepad_teleop.py @@ -250,7 +250,7 @@ def do_motion(self, state = None, robot = None): else: self._safety_stop(robot) else: - if self._i % 100 == 0: + if self._i % 100 == 0 and not self.currently_stowing: print('press the start button to calibrate the robot') def update_gamepad_state(self, robot=None): diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 0a1d456d..54021209 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -102,9 +102,6 @@ def check_ppd_edges_in_cube(cube,cube_edge,edge_indices): return True return False -def distance(point1, point2): - return math.sqrt((point1[0] - point2[0])**2 + (point1[1] - point2[1])**2 + (point1[2] - point2[2])**2) - def closest_pair_3d(points1, points2): """ Find the closest pair of 3D points from two lists of 3D points. @@ -114,7 +111,7 @@ def closest_pair_3d(points1, points2): for p1 in points1: for p2 in points2: - dist = distance(p1, p2) + dist = np.linalg.norm(p1-p2) if dist < closest_distance: closest_distance = dist closest_pair = (p1, p2) From 725caae72a4588f6c715c727e32b00efea9d8ff4 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Wed, 20 Mar 2024 19:57:37 -0700 Subject: [PATCH 15/43] Add debug latency prints --- body/stretch_body/prismatic_joint.py | 1 + body/stretch_body/robot_collision.py | 7 ++++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 19c95e56..f28a36a4 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -39,6 +39,7 @@ def __init__(self,name,usb=None): self.dist_to_min_max = None # track dist to min,max limits self.vel_brake_zone_thresh = 0.02 # initial/minimum brake zone thresh value self._prev_set_vel_ts = None + self._prev_collision_update_ts = None self.watchdog_enabled = False self.total_range = abs(self.params['range_m'][1] - self.params['range_m'][0]) self.in_collision_stop = {'pos': False, 'neg': False} diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 54021209..32e444b0 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -291,6 +291,7 @@ def __init__(self,robot): #chime.theme('big-sur') #'material')# self.running=False self.urdf=None + self.prev_loop_start_ts = None def pretty_print(self): for j in self.collision_joints: @@ -375,6 +376,9 @@ def step(self,cfg=None): """ Check for interference between cube pairs """ + if self.prev_loop_start_ts: + print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") + if self.urdf is None or not self.running: return @@ -437,7 +441,8 @@ def step(self,cfg=None): self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['las_cp_min_dist']['pair_name']) #Finally, update the collision state for each joint self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) - + self.prev_loop_start_ts = time.perf_counter() + def alert(self): threading.Thread(target=chime.warning,daemon=True).start() From ded47bbdadd259434276541e2cbdd02ab9730159 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 21 Mar 2024 00:22:58 -0700 Subject: [PATCH 16/43] wip new triangle mesh edges based intersection --- body/stretch_body/robot.py | 44 ++++++++++++++++++++++++++-- body/stretch_body/robot_collision.py | 40 +++++++++++++++++++++---- 2 files changed, 76 insertions(+), 8 deletions(-) diff --git a/body/stretch_body/robot.py b/body/stretch_body/robot.py index 979dfcbe..de698bd0 100644 --- a/body/stretch_body/robot.py +++ b/body/stretch_body/robot.py @@ -156,8 +156,8 @@ def step(self): if self.robot.params['use_sentry']: if (self.titr % self.sentry_downrate_int) == 0: self.robot._step_sentry() - if self.robot.is_homed(): - self.robot.collision.step() + # if self.robot.is_homed(): + # self.robot.collision.step() if (self.titr % self.trajectory_downrate_int) == 0: self.robot._update_trajectory_non_dynamixel() self.stats.mark_loop_end() @@ -170,6 +170,36 @@ def run(self): self.step() self.robot.logger.debug('Shutting down SystemMonitorThread') +class CollisionMonitorThread(threading.Thread): + """ + This thread runs at 25Hz. + It updates the status data of the Devices. + It also steps the Sentry, Monitor, and Collision functions + """ + def __init__(self, robot, target_rate_hz=25.0): + threading.Thread.__init__(self, name = self.__class__.__name__) + self.robot=robot + self.robot_update_rate_hz = target_rate_hz + self.shutdown_flag = threading.Event() + self.stats = hello_utils.LoopStats(loop_name='CollisionMonitorThread',target_loop_rate=self.robot_update_rate_hz) + self.titr=0 + self.running=False + + def step(self): + self.titr = self.titr + 1 + self.stats.mark_loop_start() + if self.robot.is_homed(): + self.robot.collision.step() + self.stats.mark_loop_end() + + def run(self): + self.running=True + while not self.shutdown_flag.is_set(): + self.stats.wait_until_ready_to_run() + if not self.shutdown_flag.is_set(): + self.step() + self.robot.logger.debug('Shutting down CollisionMonitorThread') + class Robot(Device): """ API to the Stretch Robot @@ -228,6 +258,7 @@ def __init__(self): self.sys_thread = None self.dxl_head_thread = None self.event_loop_thread = None + self.collision_mgmt_thread = None self.eoa_name= self.params['tool'] module_name = self.robot_params[self.eoa_name]['py_module_name'] @@ -309,6 +340,7 @@ def startup(self,start_non_dxl_thread=True,start_dxl_thread=True,start_sys_mon_t self.dxl_end_of_arm_thread = DXLEndOfArmStatusThread(self,target_rate_hz=self.params['rates']['DXLStatusThread_Hz']) self.sys_thread = SystemMonitorThread(self, target_rate_hz=self.params['rates']['SystemMonitorThread_Hz']) self.dxl_head_thread = DXLHeadStatusThread(self, target_rate_hz=self.params['rates']['DXLStatusThread_Hz']) + self.collision_mgmt_thread = CollisionMonitorThread(self, target_rate_hz=50) if start_non_dxl_thread: self.non_dxl_thread.setDaemon(True) @@ -327,6 +359,10 @@ def startup(self,start_non_dxl_thread=True,start_dxl_thread=True,start_sys_mon_t self.sys_thread.setDaemon(True) self.sys_thread.start() + if start_sys_mon_thread and self.collision_mgmt_thread: + self.collision_mgmt_thread.setDaemon(True) + self.collision_mgmt_thread.start() + return success def stop(self): @@ -352,6 +388,10 @@ def stop(self): if self.sys_thread.running: self.sys_thread.shutdown_flag.set() self.sys_thread.join(1) + if self.collision_mgmt_thread: + if self.collision_mgmt_thread.running: + self.collision_mgmt_thread.shutdown_flag.set() + self.collision_mgmt_thread.join(1) for k in self.devices: if self.devices[k] is not None: self.logger.debug('Shutting down %s'%k) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 32e444b0..f8acfeb6 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -83,6 +83,25 @@ def check_pts_in_AABB_cube(cube, pts): return True return False +def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): + for t_set in mesh_triangles: + for points in t_set: + set_1 = [points[0],points[1]] + set_2 = [points[0],points[2]] + set_3 = [points[1],points[2]] + for set in [set_1,set_2,set_3]: + mid = (set[0] + set[1])/2 + if check_pts_in_AABB_cube(cube,[mid]): + return True + mid1 = (mid + set[0])/2 + if check_pts_in_AABB_cube(cube,[mid1]): + return True + mid2 = (mid + set[1])/2 + if check_pts_in_AABB_cube(cube,[mid2]): + return True + return False + + def check_ppd_edges_in_cube(cube,cube_edge,edge_indices): if len(edge_indices)!=12: print('Invalid PPD provided to check_ppd_edges_in_cube') @@ -188,6 +207,16 @@ def find_edge_indices_PPD(self): lens.sort() print('LENS',lens) return q + + def get_triangles(self): + triangles=self.mesh.cells_dict['triangle'] + triangles = [] + for t_set in triangles: + p1 = self.pose[t_set[0]] + p2 = self.pose[t_set[1]] + p3 = self.pose[t_set[2]] + triangles.append([p1,p2,p3]) + return triangles def check_AABB(self,pts): """ @@ -376,8 +405,8 @@ def step(self,cfg=None): """ Check for interference between cube pairs """ - if self.prev_loop_start_ts: - print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") + # if self.prev_loop_start_ts: + # print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") if self.urdf is None or not self.running: return @@ -389,7 +418,7 @@ def step(self,cfg=None): lfk = self.urdf.link_fk(cfg=cfg, links=self.collision_links.keys(), use_names=True) # Update poses of links based on fk - for link_name in lfk: + for link_name in lfk: self.collision_links[link_name].set_pose(lfk[link_name].dot( self.collision_links[link_name].points.transpose()).transpose()) @@ -411,9 +440,8 @@ def step(self,cfg=None): cp.was_in_collision=cp.in_collision if cp.detect_as=='pts': cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) - # elif cp.detect_as=='edges': - # print('Checking', cp.name) - # cp.in_collision = check_ppd_edges_in_cube(cube=cp.link_cube.pose, cube_edge=cp.link_pts.pose,edge_indices=cp.link_pts.edge_indices_ppd) + elif cp.detect_as=='edges': + cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) else: cp.in_collision =False #cp.pretty_print() From d3d6b9300cabef1f3cd421dd0e204abc81dad2b1 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 21 Mar 2024 21:21:55 -0700 Subject: [PATCH 17/43] New edge detection algorithm working --- body/stretch_body/dynamixel_hello_XL430.py | 2 +- body/stretch_body/prismatic_joint.py | 2 +- body/stretch_body/robot_collision.py | 37 +++++++++++----------- body/stretch_body/robot_params_SE3.py | 18 +++++------ 4 files changed, 30 insertions(+), 29 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 7e7f98f7..61b9fef6 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -461,7 +461,7 @@ def step_collision_avoidance(self,in_collision): if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: # Check if the minimum distance between the last active collision pair has changed before reset if in_collision['las_cp_min_dist']: - print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") + # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: self.in_collision_stop[dir] = False diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index f28a36a4..923dd4c2 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -605,7 +605,7 @@ def step_collision_avoidance(self,in_collision): if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: # Check if the minimum distance between the last active collision pair has changed before reset if in_collision['las_cp_min_dist']: - print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") + # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: self.in_collision_stop[dir] = False diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index f8acfeb6..ba7914a5 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -84,21 +84,20 @@ def check_pts_in_AABB_cube(cube, pts): return False def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): - for t_set in mesh_triangles: - for points in t_set: - set_1 = [points[0],points[1]] - set_2 = [points[0],points[2]] - set_3 = [points[1],points[2]] - for set in [set_1,set_2,set_3]: - mid = (set[0] + set[1])/2 - if check_pts_in_AABB_cube(cube,[mid]): - return True - mid1 = (mid + set[0])/2 - if check_pts_in_AABB_cube(cube,[mid1]): - return True - mid2 = (mid + set[1])/2 - if check_pts_in_AABB_cube(cube,[mid2]): - return True + for points in mesh_triangles: + set_1 = [points[0],points[1]] + set_2 = [points[0],points[2]] + set_3 = [points[1],points[2]] + for set in [set_1,set_2,set_3]: + mid = (set[0] + set[1])/2 + if check_pts_in_AABB_cube(cube,[mid]): + return True + mid1 = (mid + set[0])/2 + if check_pts_in_AABB_cube(cube,[mid1]): + return True + mid2 = (mid + set[1])/2 + if check_pts_in_AABB_cube(cube,[mid2]): + return True return False @@ -209,9 +208,9 @@ def find_edge_indices_PPD(self): return q def get_triangles(self): - triangles=self.mesh.cells_dict['triangle'] + triangles_idx=self.mesh.cells_dict['triangle'] triangles = [] - for t_set in triangles: + for t_set in triangles_idx: p1 = self.pose[t_set[0]] p2 = self.pose[t_set[1]] p3 = self.pose[t_set[2]] @@ -439,7 +438,9 @@ def step(self,cfg=None): if cp.is_valid: cp.was_in_collision=cp.in_collision if cp.detect_as=='pts': - cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) + # cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) + cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) + pass elif cp.detect_as=='edges': cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) else: diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index b141d67c..3722a9e3 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -399,17 +399,17 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 1, 'wrist_yaw':1, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':0.25, 'wrist_roll': 0.25}, 'collision_pairs': { - 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'base_link', 'detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'link_arm_l0','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'link_arm_l1','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_DW3_tablet_12in', 'link_pts': 'link_head_tilt','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, + # 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, + # 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, + # 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, + # 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}}, From 374b16e05ea1dc60cb0de48bfde63d905eb58fa2 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 21 Mar 2024 22:01:17 -0700 Subject: [PATCH 18/43] Add random sampling to improve efficiency --- body/stretch_body/robot.py | 2 +- body/stretch_body/robot_collision.py | 43 +++++++++++++++++++++------ body/stretch_body/robot_params_SE3.py | 12 ++++---- 3 files changed, 41 insertions(+), 16 deletions(-) diff --git a/body/stretch_body/robot.py b/body/stretch_body/robot.py index de698bd0..dc09c320 100644 --- a/body/stretch_body/robot.py +++ b/body/stretch_body/robot.py @@ -340,7 +340,7 @@ def startup(self,start_non_dxl_thread=True,start_dxl_thread=True,start_sys_mon_t self.dxl_end_of_arm_thread = DXLEndOfArmStatusThread(self,target_rate_hz=self.params['rates']['DXLStatusThread_Hz']) self.sys_thread = SystemMonitorThread(self, target_rate_hz=self.params['rates']['SystemMonitorThread_Hz']) self.dxl_head_thread = DXLHeadStatusThread(self, target_rate_hz=self.params['rates']['DXLStatusThread_Hz']) - self.collision_mgmt_thread = CollisionMonitorThread(self, target_rate_hz=50) + self.collision_mgmt_thread = CollisionMonitorThread(self, target_rate_hz=self.params['rates']['SystemMonitorThread_Hz']) if start_non_dxl_thread: self.non_dxl_thread.setDaemon(True) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index ba7914a5..ef1cbc0d 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -8,6 +8,7 @@ import threading import chime import math +import random try: # works on ubunut 22.04 @@ -84,22 +85,48 @@ def check_pts_in_AABB_cube(cube, pts): return False def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): - for points in mesh_triangles: + # Check a set of mesh's triangles intersect an AABB cube + while len(mesh_triangles) - len(mesh_triangles)/2: + # choose a random triangle indices + random_index = random.randint(0, len(mesh_triangles) - 1) + points = mesh_triangles[random_index] + mesh_triangles.pop(random_index) + + # Three triangle sides set_1 = [points[0],points[1]] set_2 = [points[0],points[2]] set_3 = [points[1],points[2]] + + # Sample three equilinear points on each side and test for AABB intersection for set in [set_1,set_2,set_3]: - mid = (set[0] + set[1])/2 + mid = np.add(set[0],set[1])/2 if check_pts_in_AABB_cube(cube,[mid]): return True - mid1 = (mid + set[0])/2 + mid1 = np.add(mid, set[0])/2 if check_pts_in_AABB_cube(cube,[mid1]): return True - mid2 = (mid + set[1])/2 + mid2 = np.add(mid, set[1])/2 if check_pts_in_AABB_cube(cube,[mid2]): return True return False +# def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): +# for points in mesh_triangles: +# set_1 = [points[0],points[1]] +# set_2 = [points[0],points[2]] +# set_3 = [points[1],points[2]] +# for set in [set_1,set_2,set_3]: +# mid = np.add(set[0],set[1])/2 +# if check_pts_in_AABB_cube(cube,[mid]): +# return True +# mid1 = np.add(mid, set[0])/2 +# if check_pts_in_AABB_cube(cube,[mid1]): +# return True +# mid2 = np.add(mid, set[1])/2 +# if check_pts_in_AABB_cube(cube,[mid2]): +# return True +# return False + def check_ppd_edges_in_cube(cube,cube_edge,edge_indices): if len(edge_indices)!=12: @@ -404,8 +431,8 @@ def step(self,cfg=None): """ Check for interference between cube pairs """ - # if self.prev_loop_start_ts: - # print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") + if self.prev_loop_start_ts: + print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") if self.urdf is None or not self.running: return @@ -438,9 +465,7 @@ def step(self,cfg=None): if cp.is_valid: cp.was_in_collision=cp.in_collision if cp.detect_as=='pts': - # cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) - cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) - pass + cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) elif cp.detect_as=='edges': cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) else: diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 3722a9e3..0368f93c 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -401,18 +401,18 @@ 'collision_mgmt': { 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':0.25, 'wrist_roll': 0.25}, 'collision_pairs': { - 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'pts'}, - 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'pts'}, + 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, + 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, + 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, + 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, # 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, # 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, # 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, # 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, - 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}}, + 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}}, 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, From f7f71331b7fe3d5bb1de345e30fd0fa2a58b2014 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 21 Mar 2024 23:20:52 -0700 Subject: [PATCH 19/43] Increase collision monitor rate to 100hz --- body/stretch_body/dynamixel_hello_XL430.py | 4 ++-- body/stretch_body/prismatic_joint.py | 2 +- body/stretch_body/robot.py | 2 +- body/stretch_body/robot_collision.py | 8 ++------ 4 files changed, 6 insertions(+), 10 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 61b9fef6..36b9e37a 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -458,12 +458,12 @@ def step_collision_avoidance(self,in_collision): self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] #Reset if out of collision (at least 1s after collision) - if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: + if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: # Check if the minimum distance between the last active collision pair has changed before reset if in_collision['las_cp_min_dist']: # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: - if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: + if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.01: self.in_collision_stop[dir] = False def get_braking_distance(self,acc=None): diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 923dd4c2..7aaa2573 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -602,7 +602,7 @@ def step_collision_avoidance(self,in_collision): self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] #Reset if out of collision (at least 1s after collision) - if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: + if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: # Check if the minimum distance between the last active collision pair has changed before reset if in_collision['las_cp_min_dist']: # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") diff --git a/body/stretch_body/robot.py b/body/stretch_body/robot.py index dc09c320..b9ef8fdf 100644 --- a/body/stretch_body/robot.py +++ b/body/stretch_body/robot.py @@ -340,7 +340,7 @@ def startup(self,start_non_dxl_thread=True,start_dxl_thread=True,start_sys_mon_t self.dxl_end_of_arm_thread = DXLEndOfArmStatusThread(self,target_rate_hz=self.params['rates']['DXLStatusThread_Hz']) self.sys_thread = SystemMonitorThread(self, target_rate_hz=self.params['rates']['SystemMonitorThread_Hz']) self.dxl_head_thread = DXLHeadStatusThread(self, target_rate_hz=self.params['rates']['DXLStatusThread_Hz']) - self.collision_mgmt_thread = CollisionMonitorThread(self, target_rate_hz=self.params['rates']['SystemMonitorThread_Hz']) + self.collision_mgmt_thread = CollisionMonitorThread(self, target_rate_hz=100) if start_non_dxl_thread: self.non_dxl_thread.setDaemon(True) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index ef1cbc0d..5263a2d9 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -99,14 +99,10 @@ def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): # Sample three equilinear points on each side and test for AABB intersection for set in [set_1,set_2,set_3]: - mid = np.add(set[0],set[1])/2 - if check_pts_in_AABB_cube(cube,[mid]): - return True + mid = np.add(set[0], set[1])/2 mid1 = np.add(mid, set[0])/2 - if check_pts_in_AABB_cube(cube,[mid1]): - return True mid2 = np.add(mid, set[1])/2 - if check_pts_in_AABB_cube(cube,[mid2]): + if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]): return True return False From 7aa1ed61ebdd5b6b660a65681c261d153c9d4279 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 26 Mar 2024 16:56:12 -0700 Subject: [PATCH 20/43] wip --- body/stretch_body/dynamixel_hello_XL430.py | 11 +++--- body/stretch_body/end_of_arm.py | 4 ++- body/stretch_body/end_of_arm_tools.py | 14 +++++--- body/stretch_body/gamepad_controller.py | 2 +- body/stretch_body/prismatic_joint.py | 11 +++--- body/stretch_body/robot_collision.py | 34 +++++++++++++++--- body/stretch_body/robot_params_SE3.py | 40 +++++++++++++++------- 7 files changed, 83 insertions(+), 33 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 36b9e37a..147c4803 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -459,12 +459,13 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: + self.in_collision_stop[dir] = False # Check if the minimum distance between the last active collision pair has changed before reset - if in_collision['las_cp_min_dist']: - # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") - if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: - if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.01: - self.in_collision_stop[dir] = False + # if in_collision['las_cp_min_dist']: + # # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") + # if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: + # if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.01: + # self.in_collision_stop[dir] = False def get_braking_distance(self,acc=None): """Compute distance to brake the joint from the current velocity""" diff --git a/body/stretch_body/end_of_arm.py b/body/stretch_body/end_of_arm.py index 10c240e9..99e2fd4f 100644 --- a/body/stretch_body/end_of_arm.py +++ b/body/stretch_body/end_of_arm.py @@ -128,7 +128,9 @@ def get_joint_configuration(self,braked=False): dx=0 ret[j] = motor.status['pos'] + dx return ret - + + def pre_stow(self,robot=None): + pass diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index a923a751..741fbc3a 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -75,7 +75,7 @@ def home(self): self.motors['wrist_roll'].move_to(0) self.motors['wrist_yaw'].home() - def pre_stow(self): + def pre_stow(self,robot=None): if 'wrist_pitch' in self.end_of_arm.joints: self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) @@ -105,8 +105,10 @@ def home(self): self.motors['wrist_roll'].move_to(self.params['stow']['wrist_roll']) self.motors['wrist_yaw'].home() - def pre_stow(self): - if 'wrist_pitch' in self.end_of_arm.joints: + def pre_stow(self,robot=None): + if robot: + robot.end_of_arm.move_to('wrist_pitch', robot.end_of_arm.params['stow']['wrist_pitch']) + else: self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) class EOA_Wrist_DW3_Tool_SG3(EndOfArm): @@ -138,8 +140,10 @@ def home(self): self.motors['wrist_yaw'].home() self.motors['stretch_gripper'].home() - def pre_stow(self): - if 'wrist_pitch' in self.end_of_arm.joints: + def pre_stow(self,robot=None): + if robot: + robot.end_of_arm.move_to('wrist_pitch', robot.end_of_arm.params['stow']['wrist_pitch']) + else: self.end_of_arm.move_to('wrist_pitch', self.end_of_arm.params['stow']['wrist_pitch']) class EOA_Wrist_DW3_Tool_Tablet_12in(EndOfArm): diff --git a/body/stretch_body/gamepad_controller.py b/body/stretch_body/gamepad_controller.py index 3f6306cb..9ca6b38f 100755 --- a/body/stretch_body/gamepad_controller.py +++ b/body/stretch_body/gamepad_controller.py @@ -334,7 +334,7 @@ def main(): for k in state.keys(): print(k, ' : ', state[k]) print('------------------------------') - time.sleep(1.0) + time.sleep(0.1) except (KeyboardInterrupt, SystemExit): pass diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 7aaa2573..f15efa4d 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -603,12 +603,13 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: + self.in_collision_stop[dir] = False # Check if the minimum distance between the last active collision pair has changed before reset - if in_collision['las_cp_min_dist']: - # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") - if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: - if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: - self.in_collision_stop[dir] = False + # if in_collision['las_cp_min_dist']: + # # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") + # if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: + # if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: + # self.in_collision_stop[dir] = False diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 5263a2d9..14fc8139 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -84,9 +84,34 @@ def check_pts_in_AABB_cube(cube, pts): return True return False +def check_AABB_in_AABB_from_pts(pts1, pts2): + """ + Check if an AABB intersects another AABB from the given two sets of points + """ + xmax_1 = max(pts1[:, 0]) + xmin_1 = min(pts1[:, 0]) + ymax_1 = max(pts1[:, 1]) + ymin_1 = min(pts1[:, 1]) + zmax_1 = max(pts1[:, 2]) + zmin_1 = min(pts1[:, 2]) + + xmax_2 = max(pts2[:, 0]) + xmin_2 = min(pts2[:, 0]) + ymax_2 = max(pts2[:, 1]) + ymin_2 = min(pts2[:, 1]) + zmax_2 = max(pts2[:, 2]) + zmin_2 = min(pts2[:, 2]) + + cx = xmin_1<=xmax_2 and xmax_1>=xmin_2 + cy = ymin_1<=ymax_2 and ymax_1>=ymin_2 + cz = zmin_1<=zmax_2 and zmax_1>=zmin_2 + + return cx and cy and cz + + def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): # Check a set of mesh's triangles intersect an AABB cube - while len(mesh_triangles) - len(mesh_triangles)/2: + while len(mesh_triangles): # choose a random triangle indices random_index = random.randint(0, len(mesh_triangles) - 1) points = mesh_triangles[random_index] @@ -462,6 +487,7 @@ def step(self,cfg=None): cp.was_in_collision=cp.in_collision if cp.detect_as=='pts': cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) + # cp.in_collision=check_AABB_in_AABB_from_pts(pts1=cp.link_cube.pose,pts2=cp.link_pts.pose) elif cp.detect_as=='edges': cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) else: @@ -485,10 +511,10 @@ def step(self,cfg=None): if cp.in_collision: cj.active_collisions.append(cp.name) #Add collision to joint cj.in_collision[cj.collision_dirs[cp.name]] = True - cj.update_collision_pair_min_dist(cp.name) + # cj.update_collision_pair_min_dist(cp.name) - if cj.in_collision['las_cp_min_dist']: - self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['las_cp_min_dist']['pair_name']) + # if cj.in_collision['las_cp_min_dist']: + # self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['las_cp_min_dist']['pair_name']) #Finally, update the collision state for each joint self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) self.prev_loop_start_ts = time.perf_counter() diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 0368f93c..64a4831c 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -279,16 +279,20 @@ 'collision_mgmt': { 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw': 0.25, 'wrist_roll': 0.25, 'stretch_gripper': 0.0}, 'collision_pairs': { - 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'pts'}, - 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_gripper_finger_left_TO_base_link': {'link_pts': 'link_gripper_finger_left','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_finger_right_TO_base_link': {'link_pts': 'link_gripper_finger_right','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_fingertip_left_TO_base_link': {'link_pts': 'link_gripper_fingertip_left','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_fingertip_right_TO_base_link': {'link_pts': 'link_gripper_fingertip_right','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_s3_body_TO_link_arm_l0': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, - 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'pts'}}, + 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, + 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_gripper_finger_left_TO_base_link': {'link_pts': 'link_gripper_finger_left','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_finger_right_TO_base_link': {'link_pts': 'link_gripper_finger_right','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_fingertip_left_TO_base_link': {'link_pts': 'link_gripper_fingertip_left','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_fingertip_right_TO_base_link': {'link_pts': 'link_gripper_fingertip_right','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_s3_body_TO_link_arm_l0': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l0','detect_as': 'edges'}, + 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'edges'}, + 'link_gripper_s3_body_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_s3_body','detect_as': 'edges'}, + 'link_gripper_fingertip_left_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_fingertip_left','detect_as': 'edges'}, + 'link_gripper_fingertip_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_fingertip_right','detect_as': 'edges'}}, + 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}], @@ -304,15 +308,27 @@ {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_right_TO_base_link'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_left_TO_base_link'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}], + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_finger_right_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_finger_left_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}]}}, + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}]}}, 'devices': { 'wrist_pitch': { From e2e24a241d90c35e0afdc6b4240db1660af17720 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 26 Mar 2024 19:32:07 -0700 Subject: [PATCH 21/43] Normalized joint cfg based collision reset --- body/stretch_body/dynamixel_hello_XL430.py | 7 ++-- body/stretch_body/prismatic_joint.py | 6 ++-- body/stretch_body/robot_collision.py | 29 ++++++++++++--- body/stretch_body/robot_params_SE3.py | 42 +++++++++++----------- 4 files changed, 55 insertions(+), 29 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 147c4803..13ed21b7 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -455,11 +455,14 @@ def step_collision_avoidance(self,in_collision): self.ts_collision_stop[dir] = time.time() self.quick_stop() self.in_collision_stop[dir] = True - self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] + # self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] + self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: - self.in_collision_stop[dir] = False + print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") + if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: + self.in_collision_stop[dir] = False # Check if the minimum distance between the last active collision pair has changed before reset # if in_collision['las_cp_min_dist']: # # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index f15efa4d..48c5dae9 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -599,11 +599,13 @@ def step_collision_avoidance(self,in_collision): self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() - self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] + self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: - self.in_collision_stop[dir] = False + print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") + if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: + self.in_collision_stop[dir] = False # Check if the minimum distance between the last active collision pair has changed before reset # if in_collision['las_cp_min_dist']: # # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 14fc8139..98b99d36 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -9,6 +9,7 @@ import chime import math import random +from stretch_body.robot_params import RobotParams try: # works on ubunut 22.04 @@ -320,13 +321,17 @@ def __init__(self, joint_name,motor): self.active_collisions=[] self.collision_pairs=[] self.collision_dirs={} - self.in_collision={'pos':False,'neg':False, 'las_cp_min_dist':None} + self.in_collision={'pos':False,'neg':False, 'last_joint_cfg_thresh':1000} self.was_in_collision = {'pos': False, 'neg': False} def add_collision_pair(self,motion_dir, collision_pair): self.collision_pairs.append(collision_pair) self.collision_dirs[collision_pair.name]=motion_dir + def update_last_joint_cfg_thresh(self,thresh): + self.in_collision['last_joint_cfg_thresh'] = thresh + + def update_collision_pair_min_dist(self,pair_name): for cp in self.collision_pairs: if cp.name == pair_name: @@ -368,6 +373,7 @@ def __init__(self,robot): self.running=False self.urdf=None self.prev_loop_start_ts = None + self.robot_params = RobotParams().get_params()[1] def pretty_print(self): for j in self.collision_joints: @@ -446,14 +452,28 @@ def get_joint_motor(self,joint_name): return self.robot.head.get_joint('head_tilt') #Try the tool return self.robot.end_of_arm.get_joint(joint_name) + + def get_normalized_cfg_threshold(self): + arm_pos = self.robot.status['arm']['pos']/(0.5) + lift_pos = self.robot.status['lift']['pos']/(1.1) + head_pan_pos = self.robot.status['head']['head_pan']['pos_ticks']/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0]) + head_tilt_pos = self.robot.status['head']['head_tilt']['pos_ticks']/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0]) + thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos + i = 0 + for j in self.robot.end_of_arm.joints: + value = self.robot.status['end_of_arm'][j]['pos_ticks']/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0]) + thresh = thresh + value + i = i + 1 + thresh = thresh/(4+i) + return thresh def step(self,cfg=None): """ Check for interference between cube pairs """ - if self.prev_loop_start_ts: - print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") + # if self.prev_loop_start_ts: + # print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") if self.urdf is None or not self.running: return @@ -479,7 +499,6 @@ def step(self,cfg=None): # self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False, 'min_dist_pair':None} self.collision_joints[joint_name].in_collision['pos'] = False self.collision_joints[joint_name].in_collision['neg'] = False - # Test for collisions across all collision pairs for pair_name in self.collision_pairs: cp=self.collision_pairs[pair_name] @@ -504,9 +523,11 @@ def step(self,cfg=None): # print('\a') self.alert() + normalized_joint_status_thresh = self.get_normalized_cfg_threshold() #Now update joint state for joint_name in self.collision_joints: cj = self.collision_joints[joint_name] + cj.update_last_joint_cfg_thresh(normalized_joint_status_thresh) for cp in cj.collision_pairs: if cp.in_collision: cj.active_collisions.append(cp.name) #Add collision to joint diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 64a4831c..61a1b203 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -279,19 +279,19 @@ 'collision_mgmt': { 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw': 0.25, 'wrist_roll': 0.25, 'stretch_gripper': 0.0}, 'collision_pairs': { - 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, - 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, - 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, - 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}, - 'link_gripper_finger_left_TO_base_link': {'link_pts': 'link_gripper_finger_left','link_cube': 'base_link', 'detect_as': 'edges'}, - 'link_gripper_finger_right_TO_base_link': {'link_pts': 'link_gripper_finger_right','link_cube': 'base_link', 'detect_as': 'edges'}, - 'link_gripper_fingertip_left_TO_base_link': {'link_pts': 'link_gripper_fingertip_left','link_cube': 'base_link', 'detect_as': 'edges'}, - 'link_gripper_fingertip_right_TO_base_link': {'link_pts': 'link_gripper_fingertip_right','link_cube': 'base_link', 'detect_as': 'edges'}, - 'link_gripper_s3_body_TO_link_arm_l0': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l0','detect_as': 'edges'}, - 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'edges'}, - 'link_gripper_s3_body_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_s3_body','detect_as': 'edges'}, - 'link_gripper_fingertip_left_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_fingertip_left','detect_as': 'edges'}, - 'link_gripper_fingertip_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_fingertip_right','detect_as': 'edges'}}, + 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'pts'}, + 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'pts'}, + 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, + 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}, + 'link_gripper_finger_left_TO_base_link': {'link_pts': 'link_gripper_finger_left','link_cube': 'base_link', 'detect_as': 'pts'}, + 'link_gripper_finger_right_TO_base_link': {'link_pts': 'link_gripper_finger_right','link_cube': 'base_link', 'detect_as': 'pts'}, + 'link_gripper_fingertip_left_TO_base_link': {'link_pts': 'link_gripper_fingertip_left','link_cube': 'base_link', 'detect_as': 'pts'}, + 'link_gripper_fingertip_right_TO_base_link': {'link_pts': 'link_gripper_fingertip_right','link_cube': 'base_link', 'detect_as': 'pts'}, + 'link_gripper_s3_body_TO_link_arm_l0': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, + 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, + 'link_gripper_s3_body_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_s3_body','detect_as': 'pts'}, + 'link_gripper_finger_left_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_left','detect_as': 'pts'}, + 'link_gripper_finger_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_right','detect_as': 'pts'}}, 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, @@ -309,13 +309,13 @@ {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_left_TO_base_link'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, - {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, - {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, - {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, - {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}], + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}, @@ -324,11 +324,11 @@ {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, - {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, - {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, - {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_left_TO_link_head_tilt'}, - {'motion_dir': 'neg','collision_pair': 'link_gripper_fingertip_right_TO_link_head_tilt'}]}}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, + {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}]}}, 'devices': { 'wrist_pitch': { From 9fcb13ece77e82b68b42d08843975d643ed76a85 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 12:30:33 -0700 Subject: [PATCH 22/43] WIp --- body/stretch_body/robot_collision.py | 9 +++++---- body/stretch_body/robot_params_SE3.py | 26 +++++++++++++------------- 2 files changed, 18 insertions(+), 17 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 98b99d36..830a8fe4 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -11,6 +11,7 @@ import random from stretch_body.robot_params import RobotParams + try: # works on ubunut 22.04 import importlib.resources as importlib_resources @@ -369,7 +370,7 @@ def __init__(self,robot): self.collision_joints = {} self.collision_links = {} self.collision_pairs = {} - #chime.theme('big-sur') #'material')# + chime.theme('big-sur') #'material') self.running=False self.urdf=None self.prev_loop_start_ts = None @@ -457,12 +458,12 @@ def get_joint_motor(self,joint_name): def get_normalized_cfg_threshold(self): arm_pos = self.robot.status['arm']['pos']/(0.5) lift_pos = self.robot.status['lift']['pos']/(1.1) - head_pan_pos = self.robot.status['head']['head_pan']['pos_ticks']/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0]) - head_tilt_pos = self.robot.status['head']['head_tilt']['pos_ticks']/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0]) + head_pan_pos = (self.robot.status['head']['head_pan']['pos_ticks']- self.robot_params['head_pan']['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0]) + head_tilt_pos = (self.robot.status['head']['head_tilt']['pos_ticks']- self.robot_params['head_tilt']['range_t'][0])/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0]) thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos i = 0 for j in self.robot.end_of_arm.joints: - value = self.robot.status['end_of_arm'][j]['pos_ticks']/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0]) + value = (self.robot.status['end_of_arm'][j]['pos_ticks']- self.robot_params[j]['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0]) thresh = thresh + value i = i + 1 thresh = thresh/(4+i) diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 61a1b203..ca5122a3 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -279,19 +279,19 @@ 'collision_mgmt': { 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw': 0.25, 'wrist_roll': 0.25, 'stretch_gripper': 0.0}, 'collision_pairs': { - 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'pts'}, - 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'pts'}, - 'link_gripper_finger_left_TO_base_link': {'link_pts': 'link_gripper_finger_left','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_finger_right_TO_base_link': {'link_pts': 'link_gripper_finger_right','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_fingertip_left_TO_base_link': {'link_pts': 'link_gripper_fingertip_left','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_fingertip_right_TO_base_link': {'link_pts': 'link_gripper_fingertip_right','link_cube': 'base_link', 'detect_as': 'pts'}, - 'link_gripper_s3_body_TO_link_arm_l0': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, - 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, - 'link_gripper_s3_body_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_s3_body','detect_as': 'pts'}, - 'link_gripper_finger_left_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_left','detect_as': 'pts'}, - 'link_gripper_finger_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_right','detect_as': 'pts'}}, + 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, + 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_gripper_finger_left_TO_base_link': {'link_pts': 'link_gripper_finger_left','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_finger_right_TO_base_link': {'link_pts': 'link_gripper_finger_right','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_fingertip_left_TO_base_link': {'link_pts': 'link_gripper_fingertip_left','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_fingertip_right_TO_base_link': {'link_pts': 'link_gripper_fingertip_right','link_cube': 'base_link', 'detect_as': 'edges'}, + 'link_gripper_s3_body_TO_link_arm_l0': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l0','detect_as': 'edges'}, + 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'edges'}, + 'link_gripper_s3_body_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_s3_body','detect_as': 'edges'}, + 'link_gripper_finger_left_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_left','detect_as': 'edges'}, + 'link_gripper_finger_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_right','detect_as': 'edges'}}, 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, From 9acd879cf6b69f7c2fcb7ae7cf23adb1dc998d10 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 16:06:12 -0700 Subject: [PATCH 23/43] init prototype --- body/stretch_body/robot_collision.py | 179 ++++++++++++++++----------- 1 file changed, 107 insertions(+), 72 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 830a8fe4..2c5baebb 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -10,6 +10,7 @@ import math import random from stretch_body.robot_params import RobotParams +import multiprocessing try: @@ -316,9 +317,8 @@ def pretty_print(self): class CollisionJoint: - def __init__(self, joint_name,motor): + def __init__(self, joint_name): self.name=joint_name - self.motor=motor self.active_collisions=[] self.collision_pairs=[] self.collision_dirs={} @@ -350,9 +350,105 @@ def pretty_print(self): for ac in self.active_collisions: print('Active Collision: %s' % ac) +def _worker(shared_joint_cfg, shared_collision_status): + collision_mgmt = RobotCollisionMgmtObj() + collision_mgmt.startup() + collision_joints_status = {} + while True: + collision_mgmt.step(shared_joint_cfg) + for joint_name in collision_mgmt.collision_joints: + collision_joints_status[joint_name] = collision_mgmt.collision_joints[joint_name].in_collision + for k in collision_joints_status.keys(): + shared_collision_status[k] = collision_joints_status[k] + class RobotCollisionMgmt(Device): - def __init__(self,robot): + def __init__(self,robot,name='robot_collision_mgmt'): + self.robot = robot + self.process_manager = multiprocessing.Manager() + self.shared_joint_cfg = self.process_manager.dict() + self.shared_collision_status = self.process_manager.dict() + self.collision_mgmt_proccess = multiprocessing.Process(target=_worker,args=(self.shared_joint_cfg,self.shared_collision_status,),daemon=True) + self.running = False + self.robot_params = RobotParams().get_params()[1] + + def startup(self): + self.collision_mgmt_proccess.start() + + def stop(self): + self.collision_mgmt_proccess.terminate() + self.collision_mgmt_proccess.join() + + def step(self): + cfg = self.get_joint_configuration() + for k in cfg.keys(): + self.shared_joint_cfg[k] = cfg[k] + print(self.shared_collision_status) + + def get_joint_motor(self,joint_name): + if joint_name=='lift': + return self.robot.lift + if joint_name=='arm': + return self.robot.arm + if joint_name=='head_pan': + return self.robot.head.get_joint('head_pan') + if joint_name=='head_tilt': + return self.robot.head.get_joint('head_tilt') + #Try the tool + return self.robot.end_of_arm.get_joint(joint_name) + + def get_normalized_cfg_threshold(self): + arm_pos = self.robot.status['arm']['pos']/(0.5) + lift_pos = self.robot.status['lift']['pos']/(1.1) + head_pan_pos = (self.robot.status['head']['head_pan']['pos_ticks']- self.robot_params['head_pan']['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0]) + head_tilt_pos = (self.robot.status['head']['head_tilt']['pos_ticks']- self.robot_params['head_tilt']['range_t'][0])/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0]) + thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos + i = 0 + for j in self.robot.end_of_arm.joints: + value = (self.robot.status['end_of_arm'][j]['pos_ticks']- self.robot_params[j]['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0]) + thresh = thresh + value + i = i + 1 + thresh = thresh/(4+i) + return thresh + + def get_joint_configuration(self,braked=False): + """ + Construct a dictionary of robot's current pose + """ + s = self.robot.get_status() + kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance'] + if braked: + da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 + dl=kbd['lift']*self.robot.lift.get_braking_distance() + dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() + dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() + else: + da=0.0 + dl=0.0 + dhp=0.0 + dht=0.0 + + configuration = { + 'joint_lift': dl+s['lift']['pos'], + 'joint_arm_l0': da+s['arm']['pos']/4.0, + 'joint_arm_l1': da+s['arm']['pos']/4.0, + 'joint_arm_l2': da+s['arm']['pos']/4.0, + 'joint_arm_l3': da+s['arm']['pos']/4.0, + 'joint_head_pan': dhp+s['head']['head_pan']['pos'], + 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] + } + + configuration.update(self.robot.end_of_arm.get_joint_configuration(braked)) + return configuration + + def enable(self): + self.running=True + + def disable(self): + self.running=False + +class RobotCollisionMgmtObj(Device): + def __init__(self): """ RobotCollisionMgmt monitors for collisions between links. It utilizes the Collision mesh for collision estimation. @@ -366,7 +462,6 @@ def __init__(self,robot): enabling the ability to increase the safety zone. """ Device.__init__(self, name='robot_collision_mgmt') - self.robot = robot self.collision_joints = {} self.collision_links = {} self.collision_pairs = {} @@ -388,8 +483,8 @@ def disable(self): def startup(self,threaded=False): Device.startup(self, threaded=False) pkg = str(importlib_resources.files("stretch_urdf")) # .local/lib/python3.10/site-packages/stretch_urdf) - model_name = self.robot.params['model_name'] - eoa_name= self.robot.params['tool'] + model_name = self.robot_params['robot']['model_name'] + eoa_name= self.robot_params['robot']['tool'] urdf_name = pkg + '/%s/stretch_description_%s_%s.urdf' % (model_name, model_name, eoa_name) mesh_path = pkg + '/%s/' % (model_name) @@ -408,7 +503,7 @@ def startup(self,threaded=False): #Construct collision pairs cp_dict = self.params[model_name]['collision_pairs'] - cp_dict.update(self.robot.end_of_arm.params['collision_mgmt']['collision_pairs']) + cp_dict.update(self.robot_params[eoa_name]['collision_mgmt']['collision_pairs']) for cp_name in cp_dict: cp=cp_dict[cp_name] #Eg {'link_pts': 'link_head_tilt', 'link_cube': 'link_arm_l4','detect_as':'pts'} @@ -427,7 +522,7 @@ def startup(self,threaded=False): #Include those of standard robot body plus its defined tool # EG collision_joints={'lift':[{collision_1},{collision_2...}],'head_pan':[...]} cj_dict=self.params[model_name]['joints'] - eoa_cj_dict=self.robot.end_of_arm.params['collision_mgmt']['joints'] + eoa_cj_dict=self.robot_params[eoa_name]['collision_mgmt']['joints'] for tt in eoa_cj_dict: if tt in cj_dict: @@ -436,39 +531,13 @@ def startup(self,threaded=False): cj_dict[tt]=eoa_cj_dict[tt] for joint_name in cj_dict: - self.collision_joints[joint_name]=CollisionJoint(joint_name,self.get_joint_motor(joint_name)) + self.collision_joints[joint_name]=CollisionJoint(joint_name) cp_list = cj_dict[joint_name] for cp in cp_list: #eg cp={'motion_dir': 'pos', 'collision_pair': 'link_head_tilt_TO_link_arm_l4'} self.collision_joints[joint_name].add_collision_pair(motion_dir=cp['motion_dir'], collision_pair=self.collision_pairs[cp['collision_pair']]) - - def get_joint_motor(self,joint_name): - if joint_name=='lift': - return self.robot.lift - if joint_name=='arm': - return self.robot.arm - if joint_name=='head_pan': - return self.robot.head.get_joint('head_pan') - if joint_name=='head_tilt': - return self.robot.head.get_joint('head_tilt') - #Try the tool - return self.robot.end_of_arm.get_joint(joint_name) - def get_normalized_cfg_threshold(self): - arm_pos = self.robot.status['arm']['pos']/(0.5) - lift_pos = self.robot.status['lift']['pos']/(1.1) - head_pan_pos = (self.robot.status['head']['head_pan']['pos_ticks']- self.robot_params['head_pan']['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0]) - head_tilt_pos = (self.robot.status['head']['head_tilt']['pos_ticks']- self.robot_params['head_tilt']['range_t'][0])/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0]) - thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos - i = 0 - for j in self.robot.end_of_arm.joints: - value = (self.robot.status['end_of_arm'][j]['pos_ticks']- self.robot_params[j]['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0]) - thresh = thresh + value - i = i + 1 - thresh = thresh/(4+i) - return thresh - def step(self,cfg=None): """ Check for interference between cube pairs @@ -479,8 +548,8 @@ def step(self,cfg=None): if self.urdf is None or not self.running: return - if cfg is None: - cfg = self.get_joint_configuration(braked=True)#_braked() + # if cfg is None: + # cfg = self.get_joint_configuration(braked=True)#_braked() # Update forward kinematics of links lfk = self.urdf.link_fk(cfg=cfg, links=self.collision_links.keys(), use_names=True) @@ -533,12 +602,7 @@ def step(self,cfg=None): if cp.in_collision: cj.active_collisions.append(cp.name) #Add collision to joint cj.in_collision[cj.collision_dirs[cp.name]] = True - # cj.update_collision_pair_min_dist(cp.name) - - # if cj.in_collision['las_cp_min_dist']: - # self.collision_joints[joint_name].update_collision_pair_min_dist(cj.in_collision['las_cp_min_dist']['pair_name']) - #Finally, update the collision state for each joint - self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) + # self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) self.prev_loop_start_ts = time.perf_counter() def alert(self): @@ -561,36 +625,7 @@ def was_link_in_collsion(self,link_name): return False - def get_joint_configuration(self,braked=False): - """ - Construct a dictionary of robot's current pose - """ - s = self.robot.get_status() - kbd = self.params[self.robot.params['model_name']]['k_brake_distance'] - if braked: - da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 - dl=kbd['lift']*self.robot.lift.get_braking_distance() - dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() - dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() - else: - da=0.0 - dl=0.0 - dhp=0.0 - dht=0.0 - - configuration = { - 'joint_lift': dl+s['lift']['pos'], - 'joint_arm_l0': da+s['arm']['pos']/4.0, - 'joint_arm_l1': da+s['arm']['pos']/4.0, - 'joint_arm_l2': da+s['arm']['pos']/4.0, - 'joint_arm_l3': da+s['arm']['pos']/4.0, - 'joint_head_pan': dhp+s['head']['head_pan']['pos'], - 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] - } - - configuration.update(self.robot.end_of_arm.get_joint_configuration(braked)) - return configuration class RobotCollision(Device): """ From 7864263ac06692f2eaaf789a7ea14d5116f7b256 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 16:52:53 -0700 Subject: [PATCH 24/43] Collision mgmt Process communications working --- body/stretch_body/dynamixel_hello_XL430.py | 2 +- body/stretch_body/prismatic_joint.py | 2 +- body/stretch_body/robot_collision.py | 31 ++++++++++++++-------- 3 files changed, 22 insertions(+), 13 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 13ed21b7..81f4f7bd 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -460,7 +460,7 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: - print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") + # print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: self.in_collision_stop[dir] = False # Check if the minimum distance between the last active collision pair has changed before reset diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 48c5dae9..76efffdd 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -603,7 +603,7 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: - print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") + # print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: self.in_collision_stop[dir] = False # Check if the minimum distance between the last active collision pair has changed before reset diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 2c5baebb..127c1ec5 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -350,16 +350,18 @@ def pretty_print(self): for ac in self.active_collisions: print('Active Collision: %s' % ac) -def _worker(shared_joint_cfg, shared_collision_status): +def _worker(shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh): collision_mgmt = RobotCollisionMgmtObj() collision_mgmt.startup() collision_joints_status = {} while True: - collision_mgmt.step(shared_joint_cfg) + # print(f"Process Side: {shared_joint_cfg}") + collision_mgmt.step(shared_joint_cfg, shared_joint_cfg_thresh) for joint_name in collision_mgmt.collision_joints: collision_joints_status[joint_name] = collision_mgmt.collision_joints[joint_name].in_collision for k in collision_joints_status.keys(): shared_collision_status[k] = collision_joints_status[k] + # print(f"Process Side: {collision_joints_status}") class RobotCollisionMgmt(Device): @@ -368,7 +370,10 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.process_manager = multiprocessing.Manager() self.shared_joint_cfg = self.process_manager.dict() self.shared_collision_status = self.process_manager.dict() - self.collision_mgmt_proccess = multiprocessing.Process(target=_worker,args=(self.shared_joint_cfg,self.shared_collision_status,),daemon=True) + self.shared_joint_cfg_thresh = self.process_manager.Value(typecode=float,value=1000.0) + self.collision_mgmt_proccess = multiprocessing.Process(target=_worker,args=(self.shared_joint_cfg, + self.shared_collision_status, + self.shared_joint_cfg_thresh,),daemon=True) self.running = False self.robot_params = RobotParams().get_params()[1] @@ -381,9 +386,10 @@ def stop(self): def step(self): cfg = self.get_joint_configuration() + self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) for k in cfg.keys(): self.shared_joint_cfg[k] = cfg[k] - print(self.shared_collision_status) + # print(f"Thread Side: {self.shared_collision_status}") def get_joint_motor(self,joint_name): if joint_name=='lift': @@ -409,7 +415,7 @@ def get_normalized_cfg_threshold(self): thresh = thresh + value i = i + 1 thresh = thresh/(4+i) - return thresh + return float(thresh) def get_joint_configuration(self,braked=False): """ @@ -466,7 +472,7 @@ def __init__(self): self.collision_links = {} self.collision_pairs = {} chime.theme('big-sur') #'material') - self.running=False + self.running=True self.urdf=None self.prev_loop_start_ts = None self.robot_params = RobotParams().get_params()[1] @@ -538,7 +544,7 @@ def startup(self,threaded=False): collision_pair=self.collision_pairs[cp['collision_pair']]) - def step(self,cfg=None): + def step(self,cfg=None, joint_cfg_thresh=None): """ Check for interference between cube pairs """ @@ -552,7 +558,10 @@ def step(self,cfg=None): # cfg = self.get_joint_configuration(braked=True)#_braked() # Update forward kinematics of links - lfk = self.urdf.link_fk(cfg=cfg, links=self.collision_links.keys(), use_names=True) + _cfg = {} + for k in cfg.keys(): + _cfg[k] = cfg[k] + lfk = self.urdf.link_fk(cfg=_cfg, links=self.collision_links.keys(), use_names=True) # Update poses of links based on fk for link_name in lfk: @@ -593,7 +602,8 @@ def step(self,cfg=None): # print('\a') self.alert() - normalized_joint_status_thresh = self.get_normalized_cfg_threshold() + normalized_joint_status_thresh = joint_cfg_thresh.get() + # print(f"From Process: Normal CFG = {normalized_joint_status_thresh}") #Now update joint state for joint_name in self.collision_joints: cj = self.collision_joints[joint_name] @@ -602,6 +612,7 @@ def step(self,cfg=None): if cp.in_collision: cj.active_collisions.append(cp.name) #Add collision to joint cj.in_collision[cj.collision_dirs[cp.name]] = True + # print(f"From Process: {joint_name} = {self.collision_joints[joint_name].in_collision}") # self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision) self.prev_loop_start_ts = time.perf_counter() @@ -625,8 +636,6 @@ def was_link_in_collsion(self,link_name): return False - - class RobotCollision(Device): """ Deprecated. Keep shell class (for now) to avoid breaking legacy code. From 71f68191944e7ab403d15db6cd386600e09588ca Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 18:00:31 -0700 Subject: [PATCH 25/43] improvements --- body/stretch_body/robot_collision.py | 66 +++++++++++++++------------ body/stretch_body/robot_params_SE3.py | 3 +- 2 files changed, 38 insertions(+), 31 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 127c1ec5..1660a231 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -7,12 +7,10 @@ import time import threading import chime -import math import random from stretch_body.robot_params import RobotParams import multiprocessing - try: # works on ubunut 22.04 import importlib.resources as importlib_resources @@ -350,30 +348,39 @@ def pretty_print(self): for ac in self.active_collisions: print('Active Collision: %s' % ac) -def _worker(shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh): - collision_mgmt = RobotCollisionMgmtObj() - collision_mgmt.startup() +def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh): + collision_compute = RobotCollisionCompute(name) + collision_compute.startup() collision_joints_status = {} while True: - # print(f"Process Side: {shared_joint_cfg}") - collision_mgmt.step(shared_joint_cfg, shared_joint_cfg_thresh) - for joint_name in collision_mgmt.collision_joints: - collision_joints_status[joint_name] = collision_mgmt.collision_joints[joint_name].in_collision - for k in collision_joints_status.keys(): - shared_collision_status[k] = collision_joints_status[k] - # print(f"Process Side: {collision_joints_status}") + try: + if shared_is_running.get(): + # print(f"Process Side: {shared_joint_cfg}") + collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) + for joint_name in collision_compute.collision_joints: + collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision + for k in collision_joints_status.keys(): + shared_collision_status[k] = collision_joints_status[k] + # print(f"Process Side: {collision_joints_status}") + except (BrokenPipeError, ConnectionResetError): + pass class RobotCollisionMgmt(Device): def __init__(self,robot,name='robot_collision_mgmt'): + self.name = name self.robot = robot self.process_manager = multiprocessing.Manager() self.shared_joint_cfg = self.process_manager.dict() self.shared_collision_status = self.process_manager.dict() self.shared_joint_cfg_thresh = self.process_manager.Value(typecode=float,value=1000.0) - self.collision_mgmt_proccess = multiprocessing.Process(target=_worker,args=(self.shared_joint_cfg, - self.shared_collision_status, - self.shared_joint_cfg_thresh,),daemon=True) + self.shared_is_running = self.process_manager.Value(typecode=bool,value=False) + self.collision_mgmt_proccess = multiprocessing.Process(target=_collision_compute_worker, + args=(self.name, + self.shared_is_running, + self.shared_joint_cfg, + self.shared_collision_status, + self.shared_joint_cfg_thresh,),daemon=True) self.running = False self.robot_params = RobotParams().get_params()[1] @@ -385,10 +392,14 @@ def stop(self): self.collision_mgmt_proccess.join() def step(self): - cfg = self.get_joint_configuration() - self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) - for k in cfg.keys(): - self.shared_joint_cfg[k] = cfg[k] + self.shared_is_running.set(self.running) + if self.running: + cfg = self.get_joint_configuration(braked=True) + self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) + for k in cfg.keys(): + self.shared_joint_cfg[k] = cfg[k] + for j in self.shared_collision_status.keys(): + self.get_joint_motor(j).step_collision_avoidance(self.shared_collision_status[j]) # print(f"Thread Side: {self.shared_collision_status}") def get_joint_motor(self,joint_name): @@ -453,8 +464,8 @@ def enable(self): def disable(self): self.running=False -class RobotCollisionMgmtObj(Device): - def __init__(self): +class RobotCollisionCompute(Device): + def __init__(self,name='robot_collision_mgmt'): """ RobotCollisionMgmt monitors for collisions between links. It utilizes the Collision mesh for collision estimation. @@ -467,12 +478,11 @@ def __init__(self): Each link includes a parameter "scale_pct" which allows the mesh size to be expanded by a percentage around its centroid enabling the ability to increase the safety zone. """ - Device.__init__(self, name='robot_collision_mgmt') + Device.__init__(self, name) self.collision_joints = {} self.collision_links = {} self.collision_pairs = {} chime.theme('big-sur') #'material') - self.running=True self.urdf=None self.prev_loop_start_ts = None self.robot_params = RobotParams().get_params()[1] @@ -481,13 +491,10 @@ def pretty_print(self): for j in self.collision_joints: self.collision_joints[j].pretty_print() - def enable(self): - self.running=True - def disable(self): - self.running=False + def startup(self,threaded=False): - Device.startup(self, threaded=False) + Device.startup(self, threaded) pkg = str(importlib_resources.files("stretch_urdf")) # .local/lib/python3.10/site-packages/stretch_urdf) model_name = self.robot_params['robot']['model_name'] eoa_name= self.robot_params['robot']['tool'] @@ -551,7 +558,7 @@ def step(self,cfg=None, joint_cfg_thresh=None): # if self.prev_loop_start_ts: # print(f"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms") - if self.urdf is None or not self.running: + if self.urdf is None: return # if cfg is None: @@ -599,7 +606,6 @@ def step(self,cfg=None, joint_cfg_thresh=None): # Beep on new collision if not self.collision_pairs[pair_name].was_in_collision and self.collision_pairs[pair_name].in_collision: print('New collision pair event: %s'%pair_name) - # print('\a') self.alert() normalized_joint_status_thresh = joint_cfg_thresh.get() diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index ca5122a3..fb3087eb 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -315,7 +315,8 @@ {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, - {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}], + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}, From 8a28f2b5e7114197446579fb93ab210a4f126597 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 18:23:20 -0700 Subject: [PATCH 26/43] Make clean process exit --- body/stretch_body/robot_collision.py | 37 +++++++++++++++++----------- 1 file changed, 22 insertions(+), 15 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 1660a231..f8d15f69 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -10,6 +10,7 @@ import random from stretch_body.robot_params import RobotParams import multiprocessing +import signal try: # works on ubunut 22.04 @@ -184,6 +185,7 @@ def closest_pair_3d(points1, points2): closest_pair = (p1, p2) return closest_pair, closest_distance + # ####################################################################### class CollisionLink: @@ -348,23 +350,19 @@ def pretty_print(self): for ac in self.active_collisions: print('Active Collision: %s' % ac) -def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh): +def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh, exit_event): collision_compute = RobotCollisionCompute(name) collision_compute.startup() collision_joints_status = {} - while True: - try: - if shared_is_running.get(): - # print(f"Process Side: {shared_joint_cfg}") - collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) - for joint_name in collision_compute.collision_joints: - collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision - for k in collision_joints_status.keys(): - shared_collision_status[k] = collision_joints_status[k] - # print(f"Process Side: {collision_joints_status}") - except (BrokenPipeError, ConnectionResetError): - pass - + while not exit_event.is_set(): + if shared_is_running.get(): + # print(f"Process Side: {shared_joint_cfg}") + collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) + for joint_name in collision_compute.collision_joints: + collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision + for k in collision_joints_status.keys(): + shared_collision_status[k] = collision_joints_status[k] + # print(f"Process Side: {collision_joints_status}") class RobotCollisionMgmt(Device): def __init__(self,robot,name='robot_collision_mgmt'): @@ -375,12 +373,16 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.shared_collision_status = self.process_manager.dict() self.shared_joint_cfg_thresh = self.process_manager.Value(typecode=float,value=1000.0) self.shared_is_running = self.process_manager.Value(typecode=bool,value=False) + self.exit_event = multiprocessing.Event() + signal.signal(signal.SIGINT, self.signal_handler) + signal.signal(signal.SIGTERM, self.signal_handler) self.collision_mgmt_proccess = multiprocessing.Process(target=_collision_compute_worker, args=(self.name, self.shared_is_running, self.shared_joint_cfg, self.shared_collision_status, - self.shared_joint_cfg_thresh,),daemon=True) + self.shared_joint_cfg_thresh, + self.exit_event,),daemon=True) self.running = False self.robot_params = RobotParams().get_params()[1] @@ -388,6 +390,8 @@ def startup(self): self.collision_mgmt_proccess.start() def stop(self): + self.exit_event.set() + self.shared_is_running.set(False) self.collision_mgmt_proccess.terminate() self.collision_mgmt_proccess.join() @@ -402,6 +406,9 @@ def step(self): self.get_joint_motor(j).step_collision_avoidance(self.shared_collision_status[j]) # print(f"Thread Side: {self.shared_collision_status}") + def signal_handler(self, signal_received, frame): + self.exit_event.set() + def get_joint_motor(self,joint_name): if joint_name=='lift': return self.robot.lift From 1687dbbf52263d06f1a676499a800493759069f5 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 18:34:50 -0700 Subject: [PATCH 27/43] exit error handling improvements --- body/stretch_body/robot_collision.py | 50 ++++++++++++++++------------ 1 file changed, 28 insertions(+), 22 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index f8d15f69..abf7de8a 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -355,15 +355,18 @@ def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_ collision_compute.startup() collision_joints_status = {} while not exit_event.is_set(): - if shared_is_running.get(): - # print(f"Process Side: {shared_joint_cfg}") - collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) - for joint_name in collision_compute.collision_joints: - collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision - for k in collision_joints_status.keys(): - shared_collision_status[k] = collision_joints_status[k] - # print(f"Process Side: {collision_joints_status}") - + try: + if shared_is_running.get(): + # print(f"Process Side: {shared_joint_cfg}") + collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) + for joint_name in collision_compute.collision_joints: + collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision + for k in collision_joints_status.keys(): + shared_collision_status[k] = collision_joints_status[k] + # print(f"Process Side: {collision_joints_status}") + except (BrokenPipeError,ConnectionResetError): + pass + class RobotCollisionMgmt(Device): def __init__(self,robot,name='robot_collision_mgmt'): self.name = name @@ -376,7 +379,7 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.exit_event = multiprocessing.Event() signal.signal(signal.SIGINT, self.signal_handler) signal.signal(signal.SIGTERM, self.signal_handler) - self.collision_mgmt_proccess = multiprocessing.Process(target=_collision_compute_worker, + self.collision_compute_proccess = multiprocessing.Process(target=_collision_compute_worker, args=(self.name, self.shared_is_running, self.shared_joint_cfg, @@ -387,24 +390,27 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.robot_params = RobotParams().get_params()[1] def startup(self): - self.collision_mgmt_proccess.start() + self.collision_compute_proccess.start() def stop(self): self.exit_event.set() self.shared_is_running.set(False) - self.collision_mgmt_proccess.terminate() - self.collision_mgmt_proccess.join() + self.collision_compute_proccess.terminate() + self.collision_compute_proccess.join() def step(self): - self.shared_is_running.set(self.running) - if self.running: - cfg = self.get_joint_configuration(braked=True) - self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) - for k in cfg.keys(): - self.shared_joint_cfg[k] = cfg[k] - for j in self.shared_collision_status.keys(): - self.get_joint_motor(j).step_collision_avoidance(self.shared_collision_status[j]) - # print(f"Thread Side: {self.shared_collision_status}") + try: + self.shared_is_running.set(self.running) + if self.running: + cfg = self.get_joint_configuration(braked=True) + self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) + for k in cfg.keys(): + self.shared_joint_cfg[k] = cfg[k] + for j in self.shared_collision_status.keys(): + self.get_joint_motor(j).step_collision_avoidance(self.shared_collision_status[j]) + # print(f"Thread Side: {self.shared_collision_status}") + except (BrokenPipeError,ConnectionResetError): + pass def signal_handler(self, signal_received, frame): self.exit_event.set() From da44fa0e3bbb606d174c8efc26de075bf84970ef Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 19:50:26 -0700 Subject: [PATCH 28/43] enable safety twice --- body/stretch_body/dynamixel_hello_XL430.py | 7 ------- body/stretch_body/gamepad_teleop.py | 2 +- body/stretch_body/prismatic_joint.py | 10 +++------- body/stretch_body/robot_collision.py | 3 ++- body/stretch_body/robot_params_SE3.py | 2 +- 5 files changed, 7 insertions(+), 17 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 81f4f7bd..d60c7924 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -460,15 +460,8 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: - # print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: self.in_collision_stop[dir] = False - # Check if the minimum distance between the last active collision pair has changed before reset - # if in_collision['las_cp_min_dist']: - # # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") - # if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: - # if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.01: - # self.in_collision_stop[dir] = False def get_braking_distance(self,acc=None): """Compute distance to brake the joint from the current velocity""" diff --git a/body/stretch_body/gamepad_teleop.py b/body/stretch_body/gamepad_teleop.py index d9b109f2..203a852d 100644 --- a/body/stretch_body/gamepad_teleop.py +++ b/body/stretch_body/gamepad_teleop.py @@ -53,7 +53,7 @@ def __init__(self, robot_instance = True, print_dongle_status = True, lock=None, self.end_of_arm_tool =RobotParams().get_params()[1]['robot']['tool'] - self.sleep = 1/50 + self.sleep = 1/30 self.print_mode = False self._i = 0 diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 76efffdd..9c86e5e0 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -597,21 +597,17 @@ def step_collision_avoidance(self,in_collision): # Stop current motion self.motor.enable_safety() self.push_command() + self.motor.enable_safety() + self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: - # print(f"{self.name} cfg_thres: {abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh'])}") if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: self.in_collision_stop[dir] = False - # Check if the minimum distance between the last active collision pair has changed before reset - # if in_collision['las_cp_min_dist']: - # # print(f"[{self.name}] Joint in collision {in_collision['las_cp_min_dist']}") - # if self.last_collision_pair_min_dist['pair_name']==in_collision['las_cp_min_dist']['pair_name']: - # if abs(self.last_collision_pair_min_dist['dist'] - in_collision['las_cp_min_dist']['dist'])>0.03: - # self.in_collision_stop[dir] = False + diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index abf7de8a..f907d2b3 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -354,6 +354,7 @@ def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_ collision_compute = RobotCollisionCompute(name) collision_compute.startup() collision_joints_status = {} + time.sleep(0.5) while not exit_event.is_set(): try: if shared_is_running.get(): @@ -618,7 +619,7 @@ def step(self,cfg=None, joint_cfg_thresh=None): # Beep on new collision if not self.collision_pairs[pair_name].was_in_collision and self.collision_pairs[pair_name].in_collision: - print('New collision pair event: %s'%pair_name) + print(f'New collision pair event: {pair_name}' ) self.alert() normalized_joint_status_thresh = joint_cfg_thresh.get() diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index fb3087eb..1853c7cc 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -277,7 +277,7 @@ 'stretch_gripper':0.0 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw': 0.25, 'wrist_roll': 0.25, 'stretch_gripper': 0.0}, + 'k_brake_distance': {'wrist_pitch': 0.35, 'wrist_yaw': 0.35, 'wrist_roll': 0.35, 'stretch_gripper': 0.0}, 'collision_pairs': { 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, From d02f6cbe9ae3f872d70345ad44a4c72a1071c596 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 20:08:57 -0700 Subject: [PATCH 29/43] improvements --- body/stretch_body/prismatic_joint.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 9c86e5e0..f14a680a 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -597,15 +597,13 @@ def step_collision_avoidance(self,in_collision): # Stop current motion self.motor.enable_safety() self.push_command() - self.motor.enable_safety() - self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: - if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: + if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001 and abs(self.status['vel'])<0.001: self.in_collision_stop[dir] = False From 07a0621eb1d455256af180218f27a980a32e4e04 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 28 Mar 2024 23:56:18 -0700 Subject: [PATCH 30/43] Increase braking distance k --- body/stretch_body/gamepad_teleop.py | 2 +- body/stretch_body/prismatic_joint.py | 2 +- body/stretch_body/robot_collision.py | 16 ++++++---------- body/stretch_body/robot_params_SE3.py | 4 +++- 4 files changed, 11 insertions(+), 13 deletions(-) diff --git a/body/stretch_body/gamepad_teleop.py b/body/stretch_body/gamepad_teleop.py index 203a852d..d9b109f2 100644 --- a/body/stretch_body/gamepad_teleop.py +++ b/body/stretch_body/gamepad_teleop.py @@ -53,7 +53,7 @@ def __init__(self, robot_instance = True, print_dongle_status = True, lock=None, self.end_of_arm_tool =RobotParams().get_params()[1]['robot']['tool'] - self.sleep = 1/30 + self.sleep = 1/50 self.print_mode = False self._i = 0 diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index f14a680a..87d81c53 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -602,7 +602,7 @@ def step_collision_avoidance(self,in_collision): self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) - if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.5: + if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001 and abs(self.status['vel'])<0.001: self.in_collision_stop[dir] = False diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index f907d2b3..81133926 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -358,13 +358,10 @@ def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_ while not exit_event.is_set(): try: if shared_is_running.get(): - # print(f"Process Side: {shared_joint_cfg}") collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) for joint_name in collision_compute.collision_joints: collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision - for k in collision_joints_status.keys(): - shared_collision_status[k] = collision_joints_status[k] - # print(f"Process Side: {collision_joints_status}") + shared_collision_status.update(collision_joints_status) except (BrokenPipeError,ConnectionResetError): pass @@ -389,6 +386,7 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.exit_event,),daemon=True) self.running = False self.robot_params = RobotParams().get_params()[1] + self.collision_status = {} def startup(self): self.collision_compute_proccess.start() @@ -403,13 +401,11 @@ def step(self): try: self.shared_is_running.set(self.running) if self.running: - cfg = self.get_joint_configuration(braked=True) self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) - for k in cfg.keys(): - self.shared_joint_cfg[k] = cfg[k] - for j in self.shared_collision_status.keys(): - self.get_joint_motor(j).step_collision_avoidance(self.shared_collision_status[j]) - # print(f"Thread Side: {self.shared_collision_status}") + self.shared_joint_cfg.update(self.get_joint_configuration(braked=True)) + self.collision_status.update(self.shared_collision_status) + for j in self.collision_status.keys(): + self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j]) except (BrokenPipeError,ConnectionResetError): pass diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 1853c7cc..85ba0513 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -277,7 +277,7 @@ 'stretch_gripper':0.0 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.35, 'wrist_yaw': 0.35, 'wrist_roll': 0.35, 'stretch_gripper': 0.0}, + 'k_brake_distance': {'wrist_pitch': 2.0, 'wrist_yaw': 2.0, 'wrist_roll': 2.0, 'stretch_gripper': 0.0}, 'collision_pairs': { 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, @@ -325,6 +325,8 @@ {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, From 0907776b84e1e19bcba741617b3b879e559d284b Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 29 Mar 2024 01:36:55 -0700 Subject: [PATCH 31/43] Change shared variables to lightweight Queues --- body/stretch_body/robot_collision.py | 28 +++++++++++++--------------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 81133926..626afac3 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -11,6 +11,7 @@ from stretch_body.robot_params import RobotParams import multiprocessing import signal +import ctypes try: # works on ubunut 22.04 @@ -357,11 +358,11 @@ def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_ time.sleep(0.5) while not exit_event.is_set(): try: - if shared_is_running.get(): + if shared_is_running.value: collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) for joint_name in collision_compute.collision_joints: collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision - shared_collision_status.update(collision_joints_status) + shared_collision_status.put(collision_joints_status) except (BrokenPipeError,ConnectionResetError): pass @@ -369,11 +370,10 @@ class RobotCollisionMgmt(Device): def __init__(self,robot,name='robot_collision_mgmt'): self.name = name self.robot = robot - self.process_manager = multiprocessing.Manager() - self.shared_joint_cfg = self.process_manager.dict() - self.shared_collision_status = self.process_manager.dict() - self.shared_joint_cfg_thresh = self.process_manager.Value(typecode=float,value=1000.0) - self.shared_is_running = self.process_manager.Value(typecode=bool,value=False) + self.shared_joint_cfg = multiprocessing.Queue() + self.shared_collision_status = multiprocessing.Queue() + self.shared_joint_cfg_thresh = multiprocessing.Value(ctypes.c_float, 1000.0) + self.shared_is_running = multiprocessing.Value(ctypes.c_bool, False) self.exit_event = multiprocessing.Event() signal.signal(signal.SIGINT, self.signal_handler) signal.signal(signal.SIGTERM, self.signal_handler) @@ -399,11 +399,11 @@ def stop(self): def step(self): try: - self.shared_is_running.set(self.running) + self.shared_is_running.value = self.running if self.running: - self.shared_joint_cfg_thresh.set(self.get_normalized_cfg_threshold()) - self.shared_joint_cfg.update(self.get_joint_configuration(braked=True)) - self.collision_status.update(self.shared_collision_status) + self.shared_joint_cfg_thresh.value = self.get_normalized_cfg_threshold() + self.shared_joint_cfg.put(self.get_joint_configuration(braked=True)) + self.collision_status.update(self.shared_collision_status.get()) for j in self.collision_status.keys(): self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j]) except (BrokenPipeError,ConnectionResetError): @@ -575,9 +575,7 @@ def step(self,cfg=None, joint_cfg_thresh=None): # cfg = self.get_joint_configuration(braked=True)#_braked() # Update forward kinematics of links - _cfg = {} - for k in cfg.keys(): - _cfg[k] = cfg[k] + _cfg = cfg.get() lfk = self.urdf.link_fk(cfg=_cfg, links=self.collision_links.keys(), use_names=True) # Update poses of links based on fk @@ -618,7 +616,7 @@ def step(self,cfg=None, joint_cfg_thresh=None): print(f'New collision pair event: {pair_name}' ) self.alert() - normalized_joint_status_thresh = joint_cfg_thresh.get() + normalized_joint_status_thresh = joint_cfg_thresh.value # print(f"From Process: Normal CFG = {normalized_joint_status_thresh}") #Now update joint state for joint_name in self.collision_joints: From 68d643c72faaf2ce991bc8d6aa04fa2ae71506bc Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 4 Apr 2024 16:48:27 -0700 Subject: [PATCH 32/43] WIP --- body/stretch_body/robot_collision.py | 15 +- body/stretch_body/robot_params_SE3.py | 13 +- tools/bin/profile.html | 61912 ++++++++++++++++++++++++ tools/bin/profile.json | 57029 ++++++++++++++++++++++ 4 files changed, 118959 insertions(+), 10 deletions(-) create mode 100644 tools/bin/profile.html create mode 100644 tools/bin/profile.json diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 626afac3..dee679b5 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -352,6 +352,8 @@ def pretty_print(self): print('Active Collision: %s' % ac) def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh, exit_event): + signal.signal(signal.SIGINT, signal_handler) + signal.signal(signal.SIGTERM, signal_handler) collision_compute = RobotCollisionCompute(name) collision_compute.startup() collision_joints_status = {} @@ -365,7 +367,10 @@ def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_ shared_collision_status.put(collision_joints_status) except (BrokenPipeError,ConnectionResetError): pass - + +def signal_handler(signal_received, frame): + exit(0) + class RobotCollisionMgmt(Device): def __init__(self,robot,name='robot_collision_mgmt'): self.name = name @@ -375,8 +380,6 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.shared_joint_cfg_thresh = multiprocessing.Value(ctypes.c_float, 1000.0) self.shared_is_running = multiprocessing.Value(ctypes.c_bool, False) self.exit_event = multiprocessing.Event() - signal.signal(signal.SIGINT, self.signal_handler) - signal.signal(signal.SIGTERM, self.signal_handler) self.collision_compute_proccess = multiprocessing.Process(target=_collision_compute_worker, args=(self.name, self.shared_is_running, @@ -404,13 +407,11 @@ def step(self): self.shared_joint_cfg_thresh.value = self.get_normalized_cfg_threshold() self.shared_joint_cfg.put(self.get_joint_configuration(braked=True)) self.collision_status.update(self.shared_collision_status.get()) + start = time.perf_counter() for j in self.collision_status.keys(): self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j]) except (BrokenPipeError,ConnectionResetError): pass - - def signal_handler(self, signal_received, frame): - self.exit_event.set() def get_joint_motor(self,joint_name): if joint_name=='lift': @@ -613,7 +614,7 @@ def step(self,cfg=None, joint_cfg_thresh=None): # Beep on new collision if not self.collision_pairs[pair_name].was_in_collision and self.collision_pairs[pair_name].in_collision: - print(f'New collision pair event: {pair_name}' ) + print(f'New collision pair event: {pair_name} [{time.time()}]' ) self.alert() normalized_joint_status_thresh = joint_cfg_thresh.value diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 85ba0513..4f450313 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -291,7 +291,9 @@ 'link_gripper_s3_body_TO_link_arm_l1': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'link_arm_l1','detect_as': 'edges'}, 'link_gripper_s3_body_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_s3_body','detect_as': 'edges'}, 'link_gripper_finger_left_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_left','detect_as': 'edges'}, - 'link_gripper_finger_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_right','detect_as': 'edges'}}, + 'link_gripper_finger_right_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_gripper_finger_right','detect_as': 'edges'}, + 'link_gripper_finger_right_link_arm_l0': {'link_pts': 'link_gripper_finger_right', 'link_cube': 'link_arm_l0','detect_as': 'edges'}, + 'link_gripper_finger_left_TO_link_arm_l1': {'link_pts': 'link_gripper_finger_left', 'link_cube': 'link_arm_l1','detect_as': 'edges'},}, 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, @@ -302,7 +304,10 @@ {'motion_dir': 'neg', 'collision_pair': 'link_gripper_finger_left_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_finger_right_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_left_TO_base_link'}, - {'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_right_TO_base_link'}], + {'motion_dir': 'neg', 'collision_pair': 'link_gripper_fingertip_right_TO_base_link'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}], 'wrist_pitch': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_finger_left_TO_base_link'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_right_TO_base_link'}, @@ -318,7 +323,9 @@ {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, - {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}], + {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_finger_right_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_finger_left_TO_base_link'}, diff --git a/tools/bin/profile.html b/tools/bin/profile.html new file mode 100644 index 00000000..e21e0bf7 --- /dev/null +++ b/tools/bin/profile.html @@ -0,0 +1,61912 @@ + + + + + + + + Scalene + + + + + + + + + + + + + + + + + + + + + + + + + +
+

+ + + +

+
+
+
+ AI optimization options + + + +
+ +
+ + + +
+ + +
+ + + + + + +
+ Proposed optimizations
+
+ + +
+
+ + +
+ + + +
+ + Click on an explosion (💥) to see proposed optimizations for a region of code,
+ or on a lightning bolt (⚡) to propose optimizations for a specific line.
+ Click again to generate a different one.
+ Note that optimizations are AI-generated and may not be correct. +
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+
+ + + + \ No newline at end of file diff --git a/tools/bin/profile.json b/tools/bin/profile.json new file mode 100644 index 00000000..80bc9418 --- /dev/null +++ b/tools/bin/profile.json @@ -0,0 +1,57029 @@ +{ + "alloc_samples": 11, + "args": [ + "stretch_gamepad_teleop.py" + ], + "elapsed_time_sec": 2.1928789615631104, + "entrypoint_dir": "/home/hello-robot/repos/stretch_body/tools/bin", + "filename": "/home/hello-robot/repos/stretch_body/tools/bin", + "files": { + "/home/hello-robot/repos/stretch_body/body/stretch_body/dynamixel_XL430.py": { + "functions": [], + "imports": [ + "from __future__ import print_function", + "import struct", + "import array as arr", + "import threading", + "import signal" + ], + "leaks": {}, + "lines": [ + { + "end_outermost_loop": 1, + "end_region_line": 1, + "line": "from __future__ import print_function\n", + "lineno": 1, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + 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"n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 8, + "start_region_line": 8 + }, + { + "end_outermost_loop": 9, + "end_region_line": 9, + "line": "import threading\n", + "lineno": 9, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 9, + "start_region_line": 9 + }, + { + "end_outermost_loop": 10, + "end_region_line": 10, + "line": "import serial\n", + "lineno": 10, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 10, + "start_region_line": 10 + }, + { + "end_outermost_loop": 11, + "end_region_line": 11, + "line": "import signal\n", + "lineno": 11, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 11, + "start_region_line": 11 + }, + { + "end_outermost_loop": 12, + "end_region_line": 12, + "line": "\n", + "lineno": 12, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 12, + "start_region_line": 12 + }, + { + "end_outermost_loop": 13, + "end_region_line": 13, + "line": "# The code can be found in the following directory:\n", + "lineno": 13, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 13, + "start_region_line": 13 + }, + { + "end_outermost_loop": 14, + "end_region_line": 14, + "line": "# /opt/ros/melodic/lib/python2.7/dist-packages/dynamixel_sdk/\n", + "lineno": 14, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 14, + "start_region_line": 14 + }, + { + "end_outermost_loop": 15, + "end_region_line": 15, + "line": "import dynamixel_sdk.group_bulk_read as gbr\n", + "lineno": 15, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 15, + "start_region_line": 15 + }, + { + "end_outermost_loop": 16, + "end_region_line": 16, + "line": "import dynamixel_sdk.group_sync_read as gsr\n", + "lineno": 16, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 16, + "start_region_line": 16 + }, + { + "end_outermost_loop": 17, + "end_region_line": 17, + "line": "\n", + "lineno": 17, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 17, + "start_region_line": 17 + }, + { + "end_outermost_loop": 18, + "end_region_line": 18, + "line": "\n", + "lineno": 18, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 18, + "start_region_line": 18 + }, + { + "end_outermost_loop": 19, + "end_region_line": 19, + "line": "# #########################\n", + "lineno": 19, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 19, + "start_region_line": 19 + }, + { + "end_outermost_loop": 20, + "end_region_line": 20, + "line": "# XL430-W250\n", + "lineno": 20, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 20, + "start_region_line": 20 + }, + { + "end_outermost_loop": 21, + "end_region_line": 21, + "line": "# http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#control-table\n", + "lineno": 21, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 21, + "start_region_line": 21 + }, + { + "end_outermost_loop": 22, + "end_region_line": 22, + "line": "# XM540-W270\n", + "lineno": 22, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 22, + "start_region_line": 22 + }, + { + "end_outermost_loop": 23, + "end_region_line": 23, + "line": "# https://emanual.robotis.com/docs/en/dxl/x/xm540-w270/#control-table\n", + "lineno": 23, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 23, + "start_region_line": 23 + }, + { + "end_outermost_loop": 24, + "end_region_line": 24, + "line": "# xm430-w350\n", + "lineno": 24, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 24, + "start_region_line": 24 + }, + { + "end_outermost_loop": 25, + "end_region_line": 25, + "line": "#https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/\n", + "lineno": 25, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 25, + "start_region_line": 25 + }, + { + "end_outermost_loop": 26, + "end_region_line": 26, + "line": "# xc430-w240\n", + "lineno": 26, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 26, + "start_region_line": 26 + }, + { + "end_outermost_loop": 27, + "end_region_line": 27, + "line": "#https://emanual.robotis.com/docs/en/dxl/x/xc430-w240/\n", + "lineno": 27, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 27, + "start_region_line": 27 + }, + { + "end_outermost_loop": 28, + "end_region_line": 28, + "line": "\n", + "lineno": 28, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 28, + "start_region_line": 28 + }, + { + "end_outermost_loop": 29, + "end_region_line": 29, + "line": "# Control table address\n", + "lineno": 29, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 29, + "start_region_line": 29 + }, + { + "end_outermost_loop": 30, + "end_region_line": 30, + "line": "#EEPROM\n", + "lineno": 30, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 30, + "start_region_line": 30 + }, + { + "end_outermost_loop": 31, + "end_region_line": 31, + "line": "XL430_ADDR_MODEL_NUMBER = 0\n", + "lineno": 31, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 31, + "start_region_line": 31 + }, + { + "end_outermost_loop": 32, + "end_region_line": 32, + "line": "XL430_ADDR_MODEL_INFORMATION = 2\n", + "lineno": 32, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 32, + "start_region_line": 32 + }, + { + "end_outermost_loop": 33, + "end_region_line": 33, + "line": "XL430_ADDR_FIRMWARE_VERSION = 6\n", + "lineno": 33, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 33, + "start_region_line": 33 + }, + { + "end_outermost_loop": 34, + "end_region_line": 34, + "line": "XL430_ADDR_ID = 7\n", + "lineno": 34, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 34, + "start_region_line": 34 + }, + { + "end_outermost_loop": 35, + "end_region_line": 35, + "line": "XL430_ADDR_BAUD_RATE = 8\n", + "lineno": 35, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 35, + "start_region_line": 35 + }, + { + "end_outermost_loop": 36, + "end_region_line": 36, + "line": "XL430_ADDR_RETURN_DELAY_TIME = 9\n", + "lineno": 36, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 36, + "start_region_line": 36 + }, + { + "end_outermost_loop": 37, + "end_region_line": 37, + "line": "XL430_ADDR_DRIVE_MODE = 10\n", + "lineno": 37, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 37, + "start_region_line": 37 + }, + { + "end_outermost_loop": 38, + "end_region_line": 38, + "line": "XL430_ADDR_OPERATING_MODE = 11\n", + "lineno": 38, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 38, + "start_region_line": 38 + }, + { + "end_outermost_loop": 39, + "end_region_line": 39, + "line": "XL430_ADDR_SECONDARY_ID = 12\n", + "lineno": 39, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + 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+ "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 64, + "start_region_line": 64 + }, + { + "end_outermost_loop": 65, + "end_region_line": 65, + "line": "XL430_ADDR_BUS_WATCHDOG = 98\n", + "lineno": 65, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 65, + "start_region_line": 65 + }, + { + "end_outermost_loop": 66, + "end_region_line": 66, + "line": "XL430_ADDR_GOAL_PWM = 100\n", + "lineno": 66, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 66, + "start_region_line": 66 + }, + { + "end_outermost_loop": 67, + "end_region_line": 67, + "line": "XL430_ADDR_GOAL_VEL = 104\n", + "lineno": 67, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + 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"memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 71, + "start_region_line": 71 + }, + { + "end_outermost_loop": 72, + "end_region_line": 72, + "line": "XL430_ADDR_MOVING = 122\n", + "lineno": 72, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 72, + "start_region_line": 72 + }, + { + "end_outermost_loop": 73, + "end_region_line": 73, + "line": "XL430_ADDR_MOVING_STATUS=123\n", + "lineno": 73, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 73, + "start_region_line": 73 + }, + { + "end_outermost_loop": 74, + "end_region_line": 74, + "line": "XL430_ADDR_PRESENT_PWM = 124\n", + "lineno": 74, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + 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"XL430_ADDR_VELOCITY_TRAJECTORY = 136\n", + "lineno": 78, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 78, + "start_region_line": 78 + }, + { + "end_outermost_loop": 79, + "end_region_line": 79, + "line": "XL430_ADDR_POSITION_TRAJECTORY=140\n", + "lineno": 79, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 79, + "start_region_line": 79 + }, + { + "end_outermost_loop": 80, + "end_region_line": 80, + "line": "XL430_ADDR_PRESENT_INPUT_VOLTATE = 144\n", + "lineno": 80, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 80, + "start_region_line": 80 + }, + { + "end_outermost_loop": 81, + "end_region_line": 81, + "line": "XL430_ADDR_PRESENT_TEMPERATURE = 146\n", + "lineno": 81, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 81, + "start_region_line": 81 + }, + { + "end_outermost_loop": 82, + "end_region_line": 82, + "line": "XL430_ADDR_HELLO_CALIBRATED = 661 #Appropriate Indirect Data 56 to store calibrated flag\n", + "lineno": 82, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 82, + "start_region_line": 82 + }, + { + "end_outermost_loop": 83, + "end_region_line": 83, + "line": "\n", + "lineno": 83, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 83, + "start_region_line": 83 + }, + { + "end_outermost_loop": 84, + "end_region_line": 84, + "line": "XM430_ADDR_GOAL_CURRENT = 102\n", + "lineno": 84, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 84, + "start_region_line": 84 + }, + { + "end_outermost_loop": 85, + "end_region_line": 85, + "line": "XM430_ADDR_CURRENT_LIMIT = 38\n", + "lineno": 85, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 85, + "start_region_line": 85 + }, + { + "end_outermost_loop": 86, + "end_region_line": 86, + "line": "XM430_ADDR_PRESENT_CURRENT = 126\n", + "lineno": 86, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + 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"n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 90, + "start_region_line": 90 + }, + { + "end_outermost_loop": 91, + "end_region_line": 91, + "line": " COMM_TX_FAIL: \"COMM_TX_FAIL\",\n", + "lineno": 91, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 91, + "start_region_line": 91 + }, + { + "end_outermost_loop": 92, + "end_region_line": 92, + "line": " COMM_RX_FAIL: \"COMM_RX_FAIL\",\n", + "lineno": 92, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 92, + "start_region_line": 92 + }, + { + "end_outermost_loop": 93, + "end_region_line": 93, + "line": " COMM_TX_ERROR: \"COMM_TX_ERROR\",\n", + "lineno": 93, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + 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"n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 95, + "start_region_line": 95 + }, + { + "end_outermost_loop": 96, + "end_region_line": 96, + "line": " COMM_RX_CORRUPT: \"COMM_RX_CORRUPT\",\n", + "lineno": 96, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 96, + "start_region_line": 96 + }, + { + "end_outermost_loop": 97, + "end_region_line": 97, + "line": " COMM_NOT_AVAILABLE: \"COMM_NOT_AVAILABLE\"\n", + "lineno": 97, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 97, + "start_region_line": 97 + }, + { + "end_outermost_loop": 98, + "end_region_line": 98, + "line": "}\n", + "lineno": 98, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, 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"n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 104, + "start_region_line": 104 + }, + { + "end_outermost_loop": 105, + "end_region_line": 105, + "line": " 2000000: 4,\n", + "lineno": 105, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 105, + "start_region_line": 105 + }, + { + "end_outermost_loop": 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0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 107, + "start_region_line": 107 + }, + { + "end_outermost_loop": 108, + "end_region_line": 108, + "line": " 4500000: 7\n", + "lineno": 108, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 108, + "start_region_line": 108 + }, + { + "end_outermost_loop": 109, + "end_region_line": 109, + "line": "}\n", + "lineno": 109, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 109, + "start_region_line": 109 + }, + { + "end_outermost_loop": 110, + "end_region_line": 110, + "line": "\n", + "lineno": 110, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 110, + "start_region_line": 110 + }, + { + "end_outermost_loop": 111, + "end_region_line": 111, + "line": "MODEL_NUMBERS = {1080: 'XC430-W240', 1120:'XM540-W270',1060:'XL430-W250',1020:'XM430-W350'}\n", + "lineno": 111, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 111, + "start_region_line": 111 + }, + { + "end_outermost_loop": 112, + "end_region_line": 112, + "line": "\n", + "lineno": 112, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 112, + "start_region_line": 112 + }, + { + "end_outermost_loop": 131, + "end_region_line": 131, + "line": "class DelayedKeyboardInterrupt:\n", + "lineno": 113, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 113, + "start_region_line": 113 + }, + { + "end_outermost_loop": 114, + "end_region_line": 131, + "line": "\n", + "lineno": 114, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 114, + "start_region_line": 113 + }, + { + "end_outermost_loop": 120, + "end_region_line": 120, + "line": " def __enter__(self):\n", + "lineno": 115, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 115, + "start_region_line": 115 + }, + { + "end_outermost_loop": 116, + "end_region_line": 120, + "line": " self.signal_received = False\n", + "lineno": 116, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 116, + "start_region_line": 115 + }, + { + "end_outermost_loop": 117, + "end_region_line": 120, + "line": " try:\n", + "lineno": 117, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 115 + }, + { + "end_outermost_loop": 118, + "end_region_line": 120, + "line": " self.old_handler = signal.signal(signal.SIGINT, self.handler)\n", + "lineno": 118, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 118, + "start_region_line": 115 + }, + { + "end_outermost_loop": 119, + "end_region_line": 120, + "line": " except ValueError:\n", + "lineno": 119, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 119, + "start_region_line": 115 + }, + { + "end_outermost_loop": 120, + "end_region_line": 120, + "line": " pass\n", + "lineno": 120, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 120, + "start_region_line": 115 + }, + { + "end_outermost_loop": 121, + "end_region_line": 131, + "line": "\n", + "lineno": 121, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 121, + "start_region_line": 113 + }, + { + "end_outermost_loop": 123, + "end_region_line": 123, + "line": " def handler(self, sig, frame):\n", + "lineno": 122, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 122, + "start_region_line": 122 + }, + { + "end_outermost_loop": 123, + "end_region_line": 123, + "line": " self.signal_received = (sig, frame)\n", + "lineno": 123, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 123, + "start_region_line": 122 + }, + { + "end_outermost_loop": 124, + "end_region_line": 131, + "line": "\n", + "lineno": 124, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 124, + "start_region_line": 113 + }, + { + "end_outermost_loop": 131, + "end_region_line": 131, + "line": " def __exit__(self, type, value, traceback):\n", + "lineno": 125, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 125, + "start_region_line": 125 + }, + { + "end_outermost_loop": 126, + "end_region_line": 131, + "line": " try:\n", + "lineno": 126, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 126, + "start_region_line": 125 + }, + { + "end_outermost_loop": 127, + "end_region_line": 131, + "line": " signal.signal(signal.SIGINT, self.old_handler)\n", + "lineno": 127, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 127, + "start_region_line": 125 + }, + { + "end_outermost_loop": 129, + "end_region_line": 131, + "line": " if self.signal_received:\n", + "lineno": 128, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 128, + "start_region_line": 125 + }, + { + "end_outermost_loop": 129, + "end_region_line": 131, + "line": " self.old_handler(*self.signal_received)\n", + "lineno": 129, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 129, + "start_region_line": 125 + }, + { + "end_outermost_loop": 130, + "end_region_line": 131, + "line": " except (ValueError,AttributeError):\n", + "lineno": 130, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 130, + "start_region_line": 125 + }, + { + "end_outermost_loop": 131, + "end_region_line": 131, + "line": " pass\n", + "lineno": 131, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 131, + "start_region_line": 125 + }, + { + "end_outermost_loop": 132, + "end_region_line": 132, + "line": "\n", + "lineno": 132, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 132, + "start_region_line": 132 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": "class DynamixelCommError(Exception):\n", + "lineno": 133, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 133, + "start_region_line": 133 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " pass\n", + "lineno": 134, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 134, + "start_region_line": 133 + }, + { + "end_outermost_loop": 135, + "end_region_line": 135, + "line": "\n", + "lineno": 135, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 136, + "end_region_line": 136, + "line": "\n", + "lineno": 136, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 136, + "start_region_line": 136 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": "class DynamixelXL430():\n", + "lineno": 137, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 138, + "end_region_line": 1035, + "line": " \"\"\"\n", + "lineno": 138, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 138, + "start_region_line": 137 + }, + { + "end_outermost_loop": 139, + "end_region_line": 1035, + "line": " Wrapping of Dynamixel X-Series interface\n", + "lineno": 139, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 139, + "start_region_line": 137 + }, + { + "end_outermost_loop": 140, + "end_region_line": 1035, + "line": " \"\"\"\n", + "lineno": 140, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 140, + "start_region_line": 137 + }, + { + "end_outermost_loop": 155, + "end_region_line": 155, + "line": " def __init__(self, dxl_id, usb, port_handler=None, pt_lock=None, baud=115200, logger=logging.getLogger()):\n", + "lineno": 141, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 141, + "start_region_line": 141 + }, + { + "end_outermost_loop": 142, + "end_region_line": 155, + "line": " self.dxl_id = dxl_id\n", + "lineno": 142, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 142, + "start_region_line": 141 + }, + { + "end_outermost_loop": 143, + "end_region_line": 155, + "line": " self.usb = usb\n", + "lineno": 143, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 143, + "start_region_line": 141 + }, + { + "end_outermost_loop": 144, + "end_region_line": 155, + "line": " self.comm_errors = 0\n", + "lineno": 144, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 144, + "start_region_line": 141 + }, + { + "end_outermost_loop": 145, + "end_region_line": 155, + "line": " self.last_comm_success = True\n", + "lineno": 145, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 145, + "start_region_line": 141 + }, + { + "end_outermost_loop": 146, + "end_region_line": 155, + "line": " self.logger = logger\n", + "lineno": 146, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 146, + "start_region_line": 141 + }, + { + "end_outermost_loop": 147, + "end_region_line": 155, + "line": " self.baud=baud\n", + "lineno": 147, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 147, + "start_region_line": 141 + }, + { + "end_outermost_loop": 148, + "end_region_line": 155, + "line": " self.dxl_model_name=''\n", + "lineno": 148, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 148, + "start_region_line": 141 + }, + { + "end_outermost_loop": 155, + "end_region_line": 155, + "line": " # Make access to portHandler threadsafe\n", + "lineno": 149, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 141, + "start_region_line": 141 + }, + { + "end_outermost_loop": 150, + "end_region_line": 155, + "line": " self.pt_lock = threading.RLock() if pt_lock is None else pt_lock\n", + "lineno": 150, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 150, + "start_region_line": 141 + }, + { + "end_outermost_loop": 151, + "end_region_line": 155, + "line": " self.hw_valid = False\n", + "lineno": 151, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 151, + "start_region_line": 141 + }, + { + "end_outermost_loop": 152, + "end_region_line": 155, + "line": "\n", + "lineno": 152, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 152, + "start_region_line": 141 + }, + { + "end_outermost_loop": 155, + "end_region_line": 155, + "line": " # Allow sharing of port handler across multiple servos\n", + "lineno": 153, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 141, + "start_region_line": 141 + }, + { + "end_outermost_loop": 154, + "end_region_line": 155, + "line": " self.port_handler = port_handler\n", + "lineno": 154, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 154, + "start_region_line": 141 + }, + { + "end_outermost_loop": 155, + "end_region_line": 155, + "line": " self.packet_handler= None\n", + "lineno": 155, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 155, + "start_region_line": 141 + }, + { + "end_outermost_loop": 156, + "end_region_line": 1035, + "line": " \n", + "lineno": 156, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 156, + "start_region_line": 137 + }, + { + "end_outermost_loop": 168, + "end_region_line": 168, + "line": " def create_port_handler(self):\n", + "lineno": 157, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 157, + "start_region_line": 157 + }, + { + "end_outermost_loop": 158, + "end_region_line": 168, + "line": " try:\n", + "lineno": 158, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 158, + "start_region_line": 157 + }, + { + "end_outermost_loop": 164, + "end_region_line": 168, + "line": " if self.port_handler is None or not self.port_handler.is_open:\n", + "lineno": 159, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 159, + "start_region_line": 157 + }, + { + "end_outermost_loop": 160, + "end_region_line": 168, + "line": " self.port_handler = prh.PortHandler(self.usb)\n", + "lineno": 160, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 160, + "start_region_line": 157 + }, + { + "end_outermost_loop": 161, + "end_region_line": 168, + "line": " self.port_handler.openPort()\n", + "lineno": 161, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 161, + "start_region_line": 157 + }, + { + "end_outermost_loop": 162, + "end_region_line": 168, + "line": " self.port_handler.setBaudRate(self.baud)\n", + "lineno": 162, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 157 + }, + { + "end_outermost_loop": 164, + "end_region_line": 168, + "line": " else:\n", + "lineno": 163, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 159, + "start_region_line": 157 + }, + { + "end_outermost_loop": 164, + "end_region_line": 168, + "line": " self.port_handler = self.port_handler\n", + "lineno": 164, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 164, + "start_region_line": 157 + }, + { + "end_outermost_loop": 165, + "end_region_line": 168, + "line": " self.packet_handler = pch.PacketHandler(2.0)\n", + "lineno": 165, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 165, + "start_region_line": 157 + }, + { + "end_outermost_loop": 166, + "end_region_line": 168, + "line": " except serial.SerialException as e:\n", + "lineno": 166, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 166, + "start_region_line": 157 + }, + { + "end_outermost_loop": 167, + "end_region_line": 168, + "line": " self.logger.error(\"Dynamixel SerialException({1}): {2}\".format(self.usb,e.errno, e.strerror))\n", + "lineno": 167, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 167, + "start_region_line": 157 + }, + { + "end_outermost_loop": 168, + "end_region_line": 168, + "line": " self.hw_valid = self.packet_handler is not None\n", + "lineno": 168, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 168, + "start_region_line": 157 + }, + { + "end_outermost_loop": 169, + "end_region_line": 1035, + "line": "\n", + "lineno": 169, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 169, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " @staticmethod\n", + "lineno": 170, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 198, + "end_region_line": 198, + "line": " def identify_baud_rate(dxl_id, usb):\n", + "lineno": 171, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 171, + "start_region_line": 171 + }, + { + "end_outermost_loop": 172, + "end_region_line": 198, + "line": " \"\"\"Identify the baud rate a Dynamixel servo is communicating at.\n", + "lineno": 172, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 172, + "start_region_line": 171 + }, + { + "end_outermost_loop": 173, + "end_region_line": 198, + "line": "\n", + "lineno": 173, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 173, + "start_region_line": 171 + }, + { + "end_outermost_loop": 174, + "end_region_line": 198, + "line": " Parameters\n", + "lineno": 174, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 174, + "start_region_line": 171 + }, + { + "end_outermost_loop": 175, + "end_region_line": 198, + "line": " ----------\n", + "lineno": 175, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 175, + "start_region_line": 171 + }, + { + "end_outermost_loop": 176, + "end_region_line": 198, + "line": " dxl_id : int\n", + "lineno": 176, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 176, + "start_region_line": 171 + }, + { + "end_outermost_loop": 177, + "end_region_line": 198, + "line": " Dynamixel ID on chain. Must be [0, 25]\n", + "lineno": 177, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 177, + "start_region_line": 171 + }, + { + "end_outermost_loop": 178, + "end_region_line": 198, + "line": " usb : str\n", + "lineno": 178, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 178, + "start_region_line": 171 + }, + { + "end_outermost_loop": 179, + "end_region_line": 198, + "line": " the USB port, typically \"/dev/something\"\n", + "lineno": 179, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 179, + "start_region_line": 171 + }, + { + "end_outermost_loop": 180, + "end_region_line": 198, + "line": "\n", + "lineno": 180, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 180, + "start_region_line": 171 + }, + { + "end_outermost_loop": 181, + "end_region_line": 198, + "line": " Returns\n", + "lineno": 181, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 171 + }, + { + "end_outermost_loop": 182, + "end_region_line": 198, + "line": " -------\n", + "lineno": 182, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 182, + "start_region_line": 171 + }, + { + "end_outermost_loop": 183, + "end_region_line": 198, + "line": " int\n", + "lineno": 183, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 183, + "start_region_line": 171 + }, + { + "end_outermost_loop": 184, + "end_region_line": 198, + "line": " the baud rate the Dynamixel is communicating at\n", + "lineno": 184, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 184, + "start_region_line": 171 + }, + { + "end_outermost_loop": 185, + "end_region_line": 198, + "line": " \"\"\"\n", + "lineno": 185, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 185, + "start_region_line": 171 + }, + { + "end_outermost_loop": 186, + "end_region_line": 198, + "line": " try:\n", + "lineno": 186, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 186, + "start_region_line": 171 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " for b in BAUD_MAP.keys():\n", + "lineno": 187, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " port_h = prh.PortHandler(usb)\n", + "lineno": 188, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " port_h.openPort()\n", + "lineno": 189, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " port_h.setBaudRate(b)\n", + "lineno": 190, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " packet_h = pch.PacketHandler(2.0)\n", + "lineno": 191, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " _, dxl_comm_result, _ = packet_h.ping(port_h, dxl_id)\n", + "lineno": 192, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " port_h.closePort()\n", + "lineno": 193, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " if dxl_comm_result == COMM_SUCCESS:\n", + "lineno": 194, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " return b\n", + "lineno": 195, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 187 + }, + { + "end_outermost_loop": 196, + "end_region_line": 198, + "line": " except:\n", + "lineno": 196, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 196, + "start_region_line": 171 + }, + { + "end_outermost_loop": 197, + "end_region_line": 198, + "line": " pass\n", + "lineno": 197, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 197, + "start_region_line": 171 + }, + { + "end_outermost_loop": 198, + "end_region_line": 198, + "line": " return -1\n", + "lineno": 198, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 198, + "start_region_line": 171 + }, + { + "end_outermost_loop": 199, + "end_region_line": 1035, + "line": "\n", + "lineno": 199, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 199, + "start_region_line": 137 + }, + { + "end_outermost_loop": 214, + "end_region_line": 214, + "line": " def startup(self):\n", + "lineno": 200, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 200, + "start_region_line": 200 + }, + { + "end_outermost_loop": 201, + "end_region_line": 214, + "line": " self.create_port_handler()\n", + "lineno": 201, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 201, + "start_region_line": 200 + }, + { + "end_outermost_loop": 213, + "end_region_line": 214, + "line": " if self.hw_valid:\n", + "lineno": 202, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 202, + "start_region_line": 200 + }, + { + "end_outermost_loop": 203, + "end_region_line": 214, + "line": " try:\n", + "lineno": 203, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 203, + "start_region_line": 200 + }, + { + "end_outermost_loop": 204, + "end_region_line": 214, + "line": " self.enable_torque()\n", + "lineno": 204, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 204, + "start_region_line": 200 + }, + { + "end_outermost_loop": 205, + "end_region_line": 214, + "line": " except DynamixelCommError:\n", + "lineno": 205, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 205, + "start_region_line": 200 + }, + { + "end_outermost_loop": 206, + "end_region_line": 214, + "line": " baud=self.identify_baud_rate(self.dxl_id,self.usb)\n", + "lineno": 206, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 206, + "start_region_line": 200 + }, + { + "end_outermost_loop": 210, + "end_region_line": 214, + "line": " if baud!=self.baud:\n", + "lineno": 207, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 207, + "start_region_line": 200 + }, + { + "end_outermost_loop": 208, + "end_region_line": 214, + "line": " self.logger.error('DynamixelCommError. Mismatched baud rate. Expected %d but servo is set to %d.'%(self.baud,baud))\n", + "lineno": 208, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 208, + "start_region_line": 200 + }, + { + "end_outermost_loop": 210, + "end_region_line": 214, + "line": " else:\n", + "lineno": 209, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 207, + "start_region_line": 200 + }, + { + "end_outermost_loop": 210, + "end_region_line": 214, + "line": " self.logger.error('DynamixelCommError. Failed to startup servo %s at id %d . Check that id and usb bus are valid'%(self.usb,self.dxl_id))\n", + "lineno": 210, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 210, + "start_region_line": 200 + }, + { + "end_outermost_loop": 211, + "end_region_line": 214, + "line": " self.hw_valid=False\n", + "lineno": 211, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 211, + "start_region_line": 200 + }, + { + "end_outermost_loop": 212, + "end_region_line": 214, + "line": " return False\n", + "lineno": 212, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 212, + "start_region_line": 200 + }, + { + "end_outermost_loop": 213, + "end_region_line": 214, + "line": " return True\n", + "lineno": 213, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 213, + "start_region_line": 200 + }, + { + "end_outermost_loop": 214, + "end_region_line": 214, + "line": " return False\n", + "lineno": 214, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 214, + "start_region_line": 200 + }, + { + "end_outermost_loop": 215, + "end_region_line": 1035, + "line": "\n", + "lineno": 215, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 215, + "start_region_line": 137 + }, + { + "end_outermost_loop": 216, + "end_region_line": 1035, + "line": "\n", + "lineno": 216, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 216, + "start_region_line": 137 + }, + { + "end_outermost_loop": 223, + "end_region_line": 223, + "line": " def stop(self, close_port=True, disable_torque=False):\n", + "lineno": 217, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 217, + "start_region_line": 217 + }, + { + "end_outermost_loop": 223, + "end_region_line": 223, + "line": " if self.hw_valid:\n", + "lineno": 218, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 218, + "start_region_line": 217 + }, + { + "end_outermost_loop": 219, + "end_region_line": 223, + "line": " self.hw_valid = False\n", + "lineno": 219, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 219, + "start_region_line": 217 + }, + { + "end_outermost_loop": 221, + "end_region_line": 223, + "line": " if disable_torque:\n", + "lineno": 220, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 220, + "start_region_line": 217 + }, + { + "end_outermost_loop": 221, + "end_region_line": 223, + "line": " self.disable_torque()\n", + "lineno": 221, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 221, + "start_region_line": 217 + }, + { + "end_outermost_loop": 223, + "end_region_line": 223, + "line": " if close_port:\n", + "lineno": 222, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 222, + "start_region_line": 217 + }, + { + "end_outermost_loop": 223, + "end_region_line": 223, + "line": " self.port_handler.closePort()\n", + "lineno": 223, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 223, + "start_region_line": 217 + }, + { + "end_outermost_loop": 224, + "end_region_line": 1035, + "line": "\n", + "lineno": 224, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 224, + "start_region_line": 137 + }, + { + "end_outermost_loop": 250, + "end_region_line": 250, + "line": " def pretty_print(self):\n", + "lineno": 225, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 225, + "start_region_line": 225 + }, + { + "end_outermost_loop": 226, + "end_region_line": 250, + "line": " h = self.get_hardware_error()\n", + "lineno": 226, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 225 + }, + { + "end_outermost_loop": 227, + "end_region_line": 250, + "line": " status = {\n", + "lineno": 227, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 227, + "start_region_line": 225 + }, + { + "end_outermost_loop": 228, + "end_region_line": 250, + "line": " 'ID:': self.get_id(),\n", + "lineno": 228, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 228, + "start_region_line": 225 + }, + { + "end_outermost_loop": 229, + "end_region_line": 250, + "line": " 'Operating Mode:': self.get_operating_mode(),\n", + "lineno": 229, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 229, + "start_region_line": 225 + }, + { + "end_outermost_loop": 230, + "end_region_line": 250, + "line": " 'Drive Mode:': format(self.get_drive_mode(), '#010b'),\n", + "lineno": 230, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 230, + "start_region_line": 225 + }, + { + "end_outermost_loop": 231, + "end_region_line": 250, + "line": " 'Temperature:': f'{self.get_temp()} \u00b0C',\n", + "lineno": 231, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 231, + "start_region_line": 225 + }, + { + "end_outermost_loop": 232, + "end_region_line": 250, + "line": " 'Position:': f'{self.get_pos()} ticks',\n", + "lineno": 232, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 232, + "start_region_line": 225 + }, + { + "end_outermost_loop": 233, + "end_region_line": 250, + "line": " 'Velocity:': f'{self.get_vel() * 0.229:.3f} rev/min',\n", + "lineno": 233, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 225 + }, + { + "end_outermost_loop": 234, + "end_region_line": 250, + "line": " 'Load:': f'{self.get_load() * 0.1:.3f} %',\n", + "lineno": 234, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 234, + "start_region_line": 225 + }, + { + "end_outermost_loop": 235, + "end_region_line": 250, + "line": " 'PWM:': f'{self.get_pwm() * 0.113:.3f} %',\n", + "lineno": 235, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 235, + "start_region_line": 225 + }, + { + "end_outermost_loop": 236, + "end_region_line": 250, + "line": " 'Is Moving:': str(self.is_moving() != 0),\n", + "lineno": 236, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 236, + "start_region_line": 225 + }, + { + "end_outermost_loop": 237, + "end_region_line": 250, + "line": " 'Is Calibrated:': str(self.is_calibrated() != 0),\n", + "lineno": 237, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 237, + "start_region_line": 225 + }, + { + "end_outermost_loop": 238, + "end_region_line": 250, + "line": " 'Profile Velocity:': f'{self.get_profile_velocity() * 0.299:.3f} rev/min',\n", + "lineno": 238, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 238, + "start_region_line": 225 + }, + { + "end_outermost_loop": 239, + "end_region_line": 250, + "line": " 'Profile Acceleration:': f'{self.get_profile_acceleration() * 214.577:.3f} rev/min^2',\n", + "lineno": 239, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 239, + "start_region_line": 225 + }, + { + "end_outermost_loop": 240, + "end_region_line": 250, + "line": " 'Hardware Error Status:': format(h, '#010b'),\n", + "lineno": 240, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 240, + "start_region_line": 225 + }, + { + "end_outermost_loop": 241, + "end_region_line": 250, + "line": " ' Input Voltage Error:': str(h \\u0026 1 != 0),\n", + "lineno": 241, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 241, + "start_region_line": 225 + }, + { + "end_outermost_loop": 242, + "end_region_line": 250, + "line": " ' Overheating Error: ': str(h \\u0026 4 != 0),\n", + "lineno": 242, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 242, + "start_region_line": 225 + }, + { + "end_outermost_loop": 243, + "end_region_line": 250, + "line": " ' Motor Encoder Error:': str(h \\u0026 8 != 0),\n", + "lineno": 243, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 243, + "start_region_line": 225 + }, + { + "end_outermost_loop": 244, + "end_region_line": 250, + "line": " ' Electrical Shock Error:': str(h \\u0026 16 != 0),\n", + "lineno": 244, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 244, + "start_region_line": 225 + }, + { + "end_outermost_loop": 245, + "end_region_line": 250, + "line": " ' Overload Error:': str(h \\u0026 32 != 0),\n", + "lineno": 245, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 245, + "start_region_line": 225 + }, + { + "end_outermost_loop": 246, + "end_region_line": 250, + "line": " '# Communication Errors:': self.comm_errors,\n", + "lineno": 246, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 246, + "start_region_line": 225 + }, + { + "end_outermost_loop": 247, + "end_region_line": 250, + "line": " }\n", + "lineno": 247, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 247, + "start_region_line": 225 + }, + { + "end_outermost_loop": 248, + "end_region_line": 250, + "line": " print('------------------- XL430 -------------------')\n", + "lineno": 248, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 248, + "start_region_line": 225 + }, + { + "end_outermost_loop": 250, + "end_region_line": 250, + "line": " for elem, value in status.items():\n", + "lineno": 249, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 249, + "start_region_line": 249 + }, + { + "end_outermost_loop": 250, + "end_region_line": 250, + "line": " print(f\"{elem: \\u003c25}{value: \\u003e20}\")\n", + "lineno": 250, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 249, + "start_region_line": 249 + }, + { + "end_outermost_loop": 251, + "end_region_line": 1035, + "line": "\n", + "lineno": 251, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 251, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " # ##########################################\n", + "lineno": 252, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 253, + "end_region_line": 1035, + "line": "\n", + "lineno": 253, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 253, + "start_region_line": 137 + }, + { + "end_outermost_loop": 279, + "end_region_line": 279, + "line": " def handle_comm_result(self, fx, dxl_comm_result, dxl_error):\n", + "lineno": 254, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 254, + "start_region_line": 254 + }, + { + "end_outermost_loop": 255, + "end_region_line": 279, + "line": " \"\"\"Handles comm result and tracks comm errors.\n", + "lineno": 255, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 255, + "start_region_line": 254 + }, + { + "end_outermost_loop": 256, + "end_region_line": 279, + "line": "\n", + "lineno": 256, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 256, + "start_region_line": 254 + }, + { + "end_outermost_loop": 257, + "end_region_line": 279, + "line": " Parameters\n", + "lineno": 257, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 257, + "start_region_line": 254 + }, + { + "end_outermost_loop": 258, + "end_region_line": 279, + "line": " ----------\n", + "lineno": 258, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 258, + "start_region_line": 254 + }, + { + "end_outermost_loop": 259, + "end_region_line": 279, + "line": " fx : str\n", + "lineno": 259, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 259, + "start_region_line": 254 + }, + { + "end_outermost_loop": 260, + "end_region_line": 279, + "line": " control table address label\n", + "lineno": 260, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 260, + "start_region_line": 254 + }, + { + "end_outermost_loop": 261, + "end_region_line": 279, + "line": " dxl_comm_result : int\n", + "lineno": 261, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 261, + "start_region_line": 254 + }, + { + "end_outermost_loop": 262, + "end_region_line": 279, + "line": " communication result from options `COMM_CODES`\n", + "lineno": 262, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 262, + "start_region_line": 254 + }, + { + "end_outermost_loop": 263, + "end_region_line": 279, + "line": " dxl_error : int\n", + "lineno": 263, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 263, + "start_region_line": 254 + }, + { + "end_outermost_loop": 264, + "end_region_line": 279, + "line": " hardware errors sent by the dynamixel\n", + "lineno": 264, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 264, + "start_region_line": 254 + }, + { + "end_outermost_loop": 265, + "end_region_line": 279, + "line": "\n", + "lineno": 265, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 254 + }, + { + "end_outermost_loop": 266, + "end_region_line": 279, + "line": " Returns\n", + "lineno": 266, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 266, + "start_region_line": 254 + }, + { + "end_outermost_loop": 267, + "end_region_line": 279, + "line": " -------\n", + "lineno": 267, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 267, + "start_region_line": 254 + }, + { + "end_outermost_loop": 268, + "end_region_line": 279, + "line": " bool\n", + "lineno": 268, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 268, + "start_region_line": 254 + }, + { + "end_outermost_loop": 269, + "end_region_line": 279, + "line": " True if successful result, False otherwise\n", + "lineno": 269, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 269, + "start_region_line": 254 + }, + { + "end_outermost_loop": 270, + "end_region_line": 279, + "line": " \"\"\"\n", + "lineno": 270, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 270, + "start_region_line": 254 + }, + { + "end_outermost_loop": 273, + "end_region_line": 279, + "line": " if dxl_comm_result==COMM_SUCCESS:\n", + "lineno": 271, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 271, + "start_region_line": 254 + }, + { + "end_outermost_loop": 272, + "end_region_line": 279, + "line": " self.last_comm_success=True\n", + "lineno": 272, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 272, + "start_region_line": 254 + }, + { + "end_outermost_loop": 273, + "end_region_line": 279, + "line": " return True\n", + "lineno": 273, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 273, + "start_region_line": 254 + }, + { + "end_outermost_loop": 274, + "end_region_line": 279, + "line": "\n", + "lineno": 274, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 274, + "start_region_line": 254 + }, + { + "end_outermost_loop": 275, + "end_region_line": 279, + "line": " self.last_comm_success = False\n", + "lineno": 275, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 275, + "start_region_line": 254 + }, + { + "end_outermost_loop": 276, + "end_region_line": 279, + "line": " self.comm_errors += 1\n", + "lineno": 276, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 276, + "start_region_line": 254 + }, + { + "end_outermost_loop": 277, + "end_region_line": 279, + "line": " comm_error_msg = f'DXL Comm Error on {self.usb} ID {self.dxl_id}. Attempted {fx}. Result {COMM_CODES[dxl_comm_result]}. Error {dxl_error}. Total Errors {self.comm_errors}.'\n", + "lineno": 277, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 277, + "start_region_line": 254 + }, + { + "end_outermost_loop": 278, + "end_region_line": 279, + "line": " self.logger.debug(comm_error_msg)\n", + "lineno": 278, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 278, + "start_region_line": 254 + }, + { + "end_outermost_loop": 279, + "end_region_line": 279, + "line": " raise DynamixelCommError(comm_error_msg)\n", + "lineno": 279, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 279, + "start_region_line": 254 + }, + { + "end_outermost_loop": 280, + "end_region_line": 1035, + "line": "\n", + "lineno": 280, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 280, + "start_region_line": 137 + }, + { + "end_outermost_loop": 281, + "end_region_line": 1035, + "line": "\n", + "lineno": 281, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 281, + "start_region_line": 137 + }, + { + "end_outermost_loop": 283, + "end_region_line": 283, + "line": " def get_comm_errors(self):\n", + "lineno": 282, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 282, + "start_region_line": 282 + }, + { + "end_outermost_loop": 283, + "end_region_line": 283, + "line": " return self.comm_errors\n", + "lineno": 283, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 283, + "start_region_line": 282 + }, + { + "end_outermost_loop": 284, + "end_region_line": 1035, + "line": "\n", + "lineno": 284, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 284, + "start_region_line": 137 + }, + { + "end_outermost_loop": 290, + "end_region_line": 290, + "line": " def read_int32_t(self,addr):\n", + "lineno": 285, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 285, + "start_region_line": 285 + }, + { + "end_outermost_loop": 288, + "end_region_line": 290, + "line": " with self.pt_lock:\n", + "lineno": 286, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 286, + "start_region_line": 285 + }, + { + "end_outermost_loop": 288, + "end_region_line": 290, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 287, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 287, + "start_region_line": 285 + }, + { + "end_outermost_loop": 288, + "end_region_line": 290, + "line": " x, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, addr)\n", + "lineno": 288, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 288, + "start_region_line": 285 + }, + { + "end_outermost_loop": 289, + "end_region_line": 290, + "line": " xn = struct.unpack('i', arr.array('B',[DXL_LOBYTE(DXL_LOWORD(x)), DXL_HIBYTE(DXL_LOWORD(x)), DXL_LOBYTE(DXL_HIWORD(x)),DXL_HIBYTE(DXL_HIWORD(x))]))[0]\n", + "lineno": 289, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 285 + }, + { + "end_outermost_loop": 290, + "end_region_line": 290, + "line": " return xn, dxl_comm_result, dxl_error\n", + "lineno": 290, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 290, + "start_region_line": 285 + }, + { + "end_outermost_loop": 291, + "end_region_line": 1035, + "line": "\n", + "lineno": 291, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 291, + "start_region_line": 137 + }, + { + "end_outermost_loop": 297, + "end_region_line": 297, + "line": " def read_int16_t(self,addr):\n", + "lineno": 292, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 292, + "start_region_line": 292 + }, + { + "end_outermost_loop": 295, + "end_region_line": 297, + "line": " with self.pt_lock:\n", + "lineno": 293, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 293, + "start_region_line": 292 + }, + { + "end_outermost_loop": 295, + "end_region_line": 297, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 294, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 294, + "start_region_line": 292 + }, + { + "end_outermost_loop": 295, + "end_region_line": 297, + "line": " x, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, addr)\n", + "lineno": 295, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 26.092949237524003, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 295, + "start_region_line": 292 + }, + { + "end_outermost_loop": 296, + "end_region_line": 297, + "line": " xn = struct.unpack('h', arr.array('B',[DXL_LOBYTE(x), DXL_HIBYTE(x)]))[0]\n", + "lineno": 296, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 296, + "start_region_line": 292 + }, + { + "end_outermost_loop": 297, + "end_region_line": 297, + "line": " return xn, dxl_comm_result, dxl_error\n", + "lineno": 297, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 297, + "start_region_line": 292 + }, + { + "end_outermost_loop": 298, + "end_region_line": 1035, + "line": "\n", + "lineno": 298, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 298, + "start_region_line": 137 + }, + { + "end_outermost_loop": 321, + "end_region_line": 321, + "line": " def do_ping(self,verbose=True):\n", + "lineno": 299, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 299, + "start_region_line": 299 + }, + { + "end_outermost_loop": 301, + "end_region_line": 321, + "line": " if not self.hw_valid:\n", + "lineno": 300, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 300, + "start_region_line": 299 + }, + { + "end_outermost_loop": 301, + "end_region_line": 321, + "line": " return False\n", + "lineno": 301, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 301, + "start_region_line": 299 + }, + { + "end_outermost_loop": 302, + "end_region_line": 321, + "line": " try:\n", + "lineno": 302, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 302, + "start_region_line": 299 + }, + { + "end_outermost_loop": 305, + "end_region_line": 321, + "line": " with self.pt_lock:\n", + "lineno": 303, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 303, + "start_region_line": 299 + }, + { + "end_outermost_loop": 305, + "end_region_line": 321, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 304, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 304, + "start_region_line": 299 + }, + { + "end_outermost_loop": 305, + "end_region_line": 321, + "line": " dxl_model_number, dxl_comm_result, dxl_error = self.packet_handler.ping(self.port_handler, self.dxl_id)\n", + "lineno": 305, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 305, + "start_region_line": 299 + }, + { + "end_outermost_loop": 318, + "end_region_line": 321, + "line": " if self.handle_comm_result('XL430_PING', dxl_comm_result, dxl_error):\n", + "lineno": 306, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 306, + "start_region_line": 299 + }, + { + "end_outermost_loop": 307, + "end_region_line": 321, + "line": " self.dxl_model_name = MODEL_NUMBERS[dxl_model_number]\n", + "lineno": 307, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 307, + "start_region_line": 299 + }, + { + "end_outermost_loop": 308, + "end_region_line": 321, + "line": " self.logger.debug(\"[Dynamixel ID:%03d] ping Succeeded. Dynamixel model : %s. Baud %d\" % (\n", + "lineno": 308, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 308, + "start_region_line": 299 + }, + { + "end_outermost_loop": 309, + "end_region_line": 321, + "line": " self.dxl_id, self.dxl_model_name, self.baud))\n", + "lineno": 309, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 309, + "start_region_line": 299 + }, + { + "end_outermost_loop": 312, + "end_region_line": 321, + "line": " if verbose:\n", + "lineno": 310, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 310, + "start_region_line": 299 + }, + { + "end_outermost_loop": 311, + "end_region_line": 321, + "line": " print(\"[Dynamixel ID:%03d] ping Succeeded. Dynamixel model : %s. Baud %d\" % (\n", + "lineno": 311, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 311, + "start_region_line": 299 + }, + { + "end_outermost_loop": 312, + "end_region_line": 321, + "line": " self.dxl_id, self.dxl_model_name, self.baud))\n", + "lineno": 312, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 312, + "start_region_line": 299 + }, + { + "end_outermost_loop": 313, + "end_region_line": 321, + "line": " return True\n", + "lineno": 313, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 313, + "start_region_line": 299 + }, + { + "end_outermost_loop": 318, + "end_region_line": 321, + "line": " else:\n", + "lineno": 314, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 306, + "start_region_line": 299 + }, + { + "end_outermost_loop": 315, + "end_region_line": 321, + "line": " self.logger.debug(\"[Dynamixel ID:%03d] ping Failed.\" % (self.dxl_id))\n", + "lineno": 315, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 315, + "start_region_line": 299 + }, + { + "end_outermost_loop": 317, + "end_region_line": 321, + "line": " if verbose:\n", + "lineno": 316, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 316, + "start_region_line": 299 + }, + { + "end_outermost_loop": 317, + "end_region_line": 321, + "line": " print(\"[Dynamixel ID:%03d] ping Failed.\" % (self.dxl_id))\n", + "lineno": 317, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 317, + "start_region_line": 299 + }, + { + "end_outermost_loop": 318, + "end_region_line": 321, + "line": " return False\n", + "lineno": 318, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 318, + "start_region_line": 299 + }, + { + "end_outermost_loop": 319, + "end_region_line": 321, + "line": " except DynamixelCommError:\n", + "lineno": 319, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 319, + "start_region_line": 299 + }, + { + "end_outermost_loop": 320, + "end_region_line": 321, + "line": " self.logger.debug(\"[Dynamixel ID:%03d] Comm Error. Ping Failed.\" % (self.dxl_id))\n", + "lineno": 320, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 320, + "start_region_line": 299 + }, + { + "end_outermost_loop": 321, + "end_region_line": 321, + "line": " return False\n", + "lineno": 321, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 321, + "start_region_line": 299 + }, + { + "end_outermost_loop": 322, + "end_region_line": 1035, + "line": "\n", + "lineno": 322, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 322, + "start_region_line": 137 + }, + { + "end_outermost_loop": 330, + "end_region_line": 330, + "line": " def get_id(self):\n", + "lineno": 323, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 323, + "start_region_line": 323 + }, + { + "end_outermost_loop": 325, + "end_region_line": 330, + "line": " if not self.hw_valid:\n", + "lineno": 324, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 324, + "start_region_line": 323 + }, + { + "end_outermost_loop": 325, + "end_region_line": 330, + "line": " return 0\n", + "lineno": 325, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 325, + "start_region_line": 323 + }, + { + "end_outermost_loop": 328, + "end_region_line": 330, + "line": " with self.pt_lock:\n", + "lineno": 326, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 326, + "start_region_line": 323 + }, + { + "end_outermost_loop": 328, + "end_region_line": 330, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 327, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 327, + "start_region_line": 323 + }, + { + "end_outermost_loop": 328, + "end_region_line": 330, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_ID)\n", + "lineno": 328, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 328, + "start_region_line": 323 + }, + { + "end_outermost_loop": 329, + "end_region_line": 330, + "line": " self.handle_comm_result('XL430_ADDR_ID', dxl_comm_result, dxl_error)\n", + "lineno": 329, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 329, + "start_region_line": 323 + }, + { + "end_outermost_loop": 330, + "end_region_line": 330, + "line": " return p\n", + "lineno": 330, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 330, + "start_region_line": 323 + }, + { + "end_outermost_loop": 331, + "end_region_line": 1035, + "line": "\n", + "lineno": 331, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 331, + "start_region_line": 137 + }, + { + "end_outermost_loop": 338, + "end_region_line": 338, + "line": " def set_id(self,id):\n", + "lineno": 332, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 332, + "start_region_line": 332 + }, + { + "end_outermost_loop": 334, + "end_region_line": 338, + "line": " if not self.hw_valid:\n", + "lineno": 333, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 333, + "start_region_line": 332 + }, + { + "end_outermost_loop": 334, + "end_region_line": 338, + "line": " return\n", + "lineno": 334, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 334, + "start_region_line": 332 + }, + { + "end_outermost_loop": 337, + "end_region_line": 338, + "line": " with self.pt_lock:\n", + "lineno": 335, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 335, + "start_region_line": 332 + }, + { + "end_outermost_loop": 337, + "end_region_line": 338, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 336, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 336, + "start_region_line": 332 + }, + { + "end_outermost_loop": 337, + "end_region_line": 338, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_ID, int(id))\n", + "lineno": 337, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 337, + "start_region_line": 332 + }, + { + "end_outermost_loop": 338, + "end_region_line": 338, + "line": " self.handle_comm_result('XL430_ADDR_ID', dxl_comm_result, dxl_error)\n", + "lineno": 338, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 338, + "start_region_line": 332 + }, + { + "end_outermost_loop": 339, + "end_region_line": 1035, + "line": "\n", + "lineno": 339, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 339, + "start_region_line": 137 + }, + { + "end_outermost_loop": 355, + "end_region_line": 355, + "line": " def get_baud_rate(self):\n", + "lineno": 340, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 340, + "start_region_line": 340 + }, + { + "end_outermost_loop": 341, + "end_region_line": 355, + "line": " \"\"\"Retrieves the baud rate of Dynamixel communication.\n", + "lineno": 341, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 341, + "start_region_line": 340 + }, + { + "end_outermost_loop": 342, + "end_region_line": 355, + "line": "\n", + "lineno": 342, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 342, + "start_region_line": 340 + }, + { + "end_outermost_loop": 343, + "end_region_line": 355, + "line": " Returns\n", + "lineno": 343, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 343, + "start_region_line": 340 + }, + { + "end_outermost_loop": 344, + "end_region_line": 355, + "line": " -------\n", + "lineno": 344, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 344, + "start_region_line": 340 + }, + { + "end_outermost_loop": 345, + "end_region_line": 355, + "line": " int\n", + "lineno": 345, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 345, + "start_region_line": 340 + }, + { + "end_outermost_loop": 346, + "end_region_line": 355, + "line": " baud rate from `BAUD_MAP` if successful communication, else -1\n", + "lineno": 346, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 346, + "start_region_line": 340 + }, + { + "end_outermost_loop": 347, + "end_region_line": 355, + "line": " \"\"\"\n", + "lineno": 347, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 347, + "start_region_line": 340 + }, + { + "end_outermost_loop": 349, + "end_region_line": 355, + "line": " if not self.hw_valid:\n", + "lineno": 348, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 348, + "start_region_line": 340 + }, + { + "end_outermost_loop": 349, + "end_region_line": 355, + "line": " return -1\n", + "lineno": 349, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 349, + "start_region_line": 340 + }, + { + "end_outermost_loop": 352, + "end_region_line": 355, + "line": " with self.pt_lock:\n", + "lineno": 350, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 350, + "start_region_line": 340 + }, + { + "end_outermost_loop": 352, + "end_region_line": 355, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 351, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 351, + "start_region_line": 340 + }, + { + "end_outermost_loop": 352, + "end_region_line": 355, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BAUD_RATE)\n", + "lineno": 352, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 340 + }, + { + "end_outermost_loop": 354, + "end_region_line": 355, + "line": " if not self.handle_comm_result('XL430_ADDR_BAUD_RATE', dxl_comm_result, dxl_error):\n", + "lineno": 353, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 353, + "start_region_line": 340 + }, + { + "end_outermost_loop": 354, + "end_region_line": 355, + "line": " return -1\n", + "lineno": 354, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 354, + "start_region_line": 340 + }, + { + "end_outermost_loop": 355, + "end_region_line": 355, + "line": " return list(BAUD_MAP.keys())[list(BAUD_MAP.values()).index(p)]\n", + "lineno": 355, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 355, + "start_region_line": 340 + }, + { + "end_outermost_loop": 356, + "end_region_line": 1035, + "line": "\n", + "lineno": 356, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 356, + "start_region_line": 137 + }, + { + "end_outermost_loop": 380, + "end_region_line": 380, + "line": " def set_baud_rate(self, rate):\n", + "lineno": 357, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 357, + "start_region_line": 357 + }, + { + "end_outermost_loop": 358, + "end_region_line": 380, + "line": " \"\"\"Sets the baud rate of Dynamixel communication.\n", + "lineno": 358, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 358, + "start_region_line": 357 + }, + { + "end_outermost_loop": 359, + "end_region_line": 380, + "line": "\n", + "lineno": 359, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 357 + }, + { + "end_outermost_loop": 360, + "end_region_line": 380, + "line": " Parameters\n", + "lineno": 360, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 360, + "start_region_line": 357 + }, + { + "end_outermost_loop": 361, + "end_region_line": 380, + "line": " ----------\n", + "lineno": 361, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 361, + "start_region_line": 357 + }, + { + "end_outermost_loop": 362, + "end_region_line": 380, + "line": " rate : int\n", + "lineno": 362, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 362, + "start_region_line": 357 + }, + { + "end_outermost_loop": 363, + "end_region_line": 380, + "line": " baud rate option from `BAUD_MAP`\n", + "lineno": 363, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 363, + "start_region_line": 357 + }, + { + "end_outermost_loop": 364, + "end_region_line": 380, + "line": "\n", + "lineno": 364, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 364, + "start_region_line": 357 + }, + { + "end_outermost_loop": 365, + "end_region_line": 380, + "line": " Returns\n", + "lineno": 365, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 365, + "start_region_line": 357 + }, + { + "end_outermost_loop": 366, + "end_region_line": 380, + "line": " -------\n", + "lineno": 366, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 366, + "start_region_line": 357 + }, + { + "end_outermost_loop": 367, + "end_region_line": 380, + "line": " bool\n", + "lineno": 367, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 367, + "start_region_line": 357 + }, + { + "end_outermost_loop": 368, + "end_region_line": 380, + "line": " True if the baud rate was set successfully, else False\n", + "lineno": 368, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 368, + "start_region_line": 357 + }, + { + "end_outermost_loop": 369, + "end_region_line": 380, + "line": " \"\"\"\n", + "lineno": 369, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 369, + "start_region_line": 357 + }, + { + "end_outermost_loop": 371, + "end_region_line": 380, + "line": " if not self.hw_valid:\n", + "lineno": 370, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 370, + "start_region_line": 357 + }, + { + "end_outermost_loop": 371, + "end_region_line": 380, + "line": " return -1\n", + "lineno": 371, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 371, + "start_region_line": 357 + }, + { + "end_outermost_loop": 374, + "end_region_line": 380, + "line": " if rate not in BAUD_MAP:\n", + "lineno": 372, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 372, + "start_region_line": 357 + }, + { + "end_outermost_loop": 373, + "end_region_line": 380, + "line": " self.logger.debug(\"Invalid baud rate\")\n", + "lineno": 373, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 373, + "start_region_line": 357 + }, + { + "end_outermost_loop": 374, + "end_region_line": 380, + "line": " return False\n", + "lineno": 374, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 374, + "start_region_line": 357 + }, + { + "end_outermost_loop": 375, + "end_region_line": 380, + "line": "\n", + "lineno": 375, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 375, + "start_region_line": 357 + }, + { + "end_outermost_loop": 376, + "end_region_line": 380, + "line": " self.disable_torque()\n", + "lineno": 376, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 376, + "start_region_line": 357 + }, + { + "end_outermost_loop": 379, + "end_region_line": 380, + "line": " with self.pt_lock:\n", + "lineno": 377, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 377, + "start_region_line": 357 + }, + { + "end_outermost_loop": 379, + "end_region_line": 380, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 378, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 378, + "start_region_line": 357 + }, + { + "end_outermost_loop": 379, + "end_region_line": 380, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BAUD_RATE, BAUD_MAP[rate])\n", + "lineno": 379, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 379, + "start_region_line": 357 + }, + { + "end_outermost_loop": 380, + "end_region_line": 380, + "line": " return self.handle_comm_result('XL430_ADDR_BAUD_RATE', dxl_comm_result, dxl_error)\n", + "lineno": 380, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 380, + "start_region_line": 357 + }, + { + "end_outermost_loop": 381, + "end_region_line": 1035, + "line": "\n", + "lineno": 381, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 381, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " #Hello Robot Specific\n", + "lineno": 382, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 390, + "end_region_line": 390, + "line": " def is_calibrated(self):\n", + "lineno": 383, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 383, + "start_region_line": 383 + }, + { + "end_outermost_loop": 385, + "end_region_line": 390, + "line": " if not self.hw_valid:\n", + "lineno": 384, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 384, + "start_region_line": 383 + }, + { + "end_outermost_loop": 385, + "end_region_line": 390, + "line": " return False\n", + "lineno": 385, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 385, + "start_region_line": 383 + }, + { + "end_outermost_loop": 388, + "end_region_line": 390, + "line": " with self.pt_lock:\n", + "lineno": 386, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 386, + "start_region_line": 383 + }, + { + "end_outermost_loop": 388, + "end_region_line": 390, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 387, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 387, + "start_region_line": 383 + }, + { + "end_outermost_loop": 388, + "end_region_line": 390, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_HELLO_CALIBRATED)\n", + "lineno": 388, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 388, + "start_region_line": 383 + }, + { + "end_outermost_loop": 389, + "end_region_line": 390, + "line": " self.handle_comm_result('XL430_ADDR_HELLO_CALIBRATED', dxl_comm_result, dxl_error)\n", + "lineno": 389, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 389, + "start_region_line": 383 + }, + { + "end_outermost_loop": 390, + "end_region_line": 390, + "line": " return p\n", + "lineno": 390, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 390, + "start_region_line": 383 + }, + { + "end_outermost_loop": 391, + "end_region_line": 1035, + "line": "\n", + "lineno": 391, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 391, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " # Hello Robot Specific\n", + "lineno": 392, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 399, + "end_region_line": 399, + "line": " def set_calibrated(self,x):\n", + "lineno": 393, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 393, + "start_region_line": 393 + }, + { + "end_outermost_loop": 395, + "end_region_line": 399, + "line": " if not self.hw_valid:\n", + "lineno": 394, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 394, + "start_region_line": 393 + }, + { + "end_outermost_loop": 395, + "end_region_line": 399, + "line": " return\n", + "lineno": 395, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 395, + "start_region_line": 393 + }, + { + "end_outermost_loop": 398, + "end_region_line": 399, + "line": " with self.pt_lock:\n", + "lineno": 396, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 396, + "start_region_line": 393 + }, + { + "end_outermost_loop": 398, + "end_region_line": 399, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 397, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 397, + "start_region_line": 393 + }, + { + "end_outermost_loop": 398, + "end_region_line": 399, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_HELLO_CALIBRATED, int(x!=0))\n", + "lineno": 398, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 398, + "start_region_line": 393 + }, + { + "end_outermost_loop": 399, + "end_region_line": 399, + "line": " self.handle_comm_result('XL430_ADDR_HELLO_CALIBRATED', dxl_comm_result, dxl_error)\n", + "lineno": 399, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 399, + "start_region_line": 393 + }, + { + "end_outermost_loop": 400, + "end_region_line": 1035, + "line": "\n", + "lineno": 400, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 400, + "start_region_line": 137 + }, + { + "end_outermost_loop": 412, + "end_region_line": 412, + "line": " def do_reboot(self):\n", + "lineno": 401, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 401, + "start_region_line": 401 + }, + { + "end_outermost_loop": 403, + "end_region_line": 412, + "line": " if not self.hw_valid:\n", + "lineno": 402, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 402, + "start_region_line": 401 + }, + { + "end_outermost_loop": 403, + "end_region_line": 412, + "line": " return False\n", + "lineno": 403, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 403, + "start_region_line": 401 + }, + { + "end_outermost_loop": 406, + "end_region_line": 412, + "line": " with self.pt_lock:\n", + "lineno": 404, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 404, + "start_region_line": 401 + }, + { + "end_outermost_loop": 406, + "end_region_line": 412, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 405, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 405, + "start_region_line": 401 + }, + { + "end_outermost_loop": 406, + "end_region_line": 412, + "line": " dxl_comm_result, dxl_error = self.packet_handler.reboot(self.port_handler, self.dxl_id)\n", + "lineno": 406, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 406, + "start_region_line": 401 + }, + { + "end_outermost_loop": 412, + "end_region_line": 412, + "line": " if self.handle_comm_result('XL430_REBOOT', dxl_comm_result, dxl_error):\n", + "lineno": 407, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 407, + "start_region_line": 401 + }, + { + "end_outermost_loop": 408, + "end_region_line": 412, + "line": " print(\"[Dynamixel ID:%03d] Reboot Succeeded.\" % (self.dxl_id))\n", + "lineno": 408, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 408, + "start_region_line": 401 + }, + { + "end_outermost_loop": 409, + "end_region_line": 412, + "line": " return True\n", + "lineno": 409, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 409, + "start_region_line": 401 + }, + { + "end_outermost_loop": 412, + "end_region_line": 412, + "line": " else:\n", + "lineno": 410, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 407, + "start_region_line": 401 + }, + { + "end_outermost_loop": 411, + "end_region_line": 412, + "line": " print(\"[Dynamixel ID:%03d] Reboot Failed.\" % (self.dxl_id))\n", + "lineno": 411, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 411, + "start_region_line": 401 + }, + { + "end_outermost_loop": 412, + "end_region_line": 412, + "line": " return False\n", + "lineno": 412, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 412, + "start_region_line": 401 + }, + { + "end_outermost_loop": 413, + "end_region_line": 1035, + "line": "\n", + "lineno": 413, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 413, + "start_region_line": 137 + }, + { + "end_outermost_loop": 421, + "end_region_line": 421, + "line": " def get_shutdown(self):\n", + "lineno": 414, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 414, + "start_region_line": 414 + }, + { + "end_outermost_loop": 416, + "end_region_line": 421, + "line": " if not self.hw_valid:\n", + "lineno": 415, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 415, + "start_region_line": 414 + }, + { + "end_outermost_loop": 416, + "end_region_line": 421, + "line": " return 0\n", + "lineno": 416, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 416, + "start_region_line": 414 + }, + { + "end_outermost_loop": 419, + "end_region_line": 421, + "line": " with self.pt_lock:\n", + "lineno": 417, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 417, + "start_region_line": 414 + }, + { + "end_outermost_loop": 419, + "end_region_line": 421, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 418, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 418, + "start_region_line": 414 + }, + { + "end_outermost_loop": 419, + "end_region_line": 421, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_SHUTDOWN)\n", + "lineno": 419, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 419, + "start_region_line": 414 + }, + { + "end_outermost_loop": 420, + "end_region_line": 421, + "line": " self.handle_comm_result('XL430_ADDR_SHUTDOWN', dxl_comm_result, dxl_error)\n", + "lineno": 420, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 420, + "start_region_line": 414 + }, + { + "end_outermost_loop": 421, + "end_region_line": 421, + "line": " return p\n", + "lineno": 421, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 421, + "start_region_line": 414 + }, + { + "end_outermost_loop": 422, + "end_region_line": 1035, + "line": "\n", + "lineno": 422, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 422, + "start_region_line": 137 + }, + { + "end_outermost_loop": 429, + "end_region_line": 429, + "line": " def set_shutdown(self):\n", + "lineno": 423, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 423, + "start_region_line": 423 + }, + { + "end_outermost_loop": 425, + "end_region_line": 429, + "line": " if not self.hw_valid:\n", + "lineno": 424, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 424, + "start_region_line": 423 + }, + { + "end_outermost_loop": 425, + "end_region_line": 429, + "line": " return\n", + "lineno": 425, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 425, + "start_region_line": 423 + }, + { + "end_outermost_loop": 428, + "end_region_line": 429, + "line": " with self.pt_lock:\n", + "lineno": 426, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 426, + "start_region_line": 423 + }, + { + "end_outermost_loop": 428, + "end_region_line": 429, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 427, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 427, + "start_region_line": 423 + }, + { + "end_outermost_loop": 428, + "end_region_line": 429, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_SHUTDOWN, id)\n", + "lineno": 428, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 428, + "start_region_line": 423 + }, + { + "end_outermost_loop": 429, + "end_region_line": 429, + "line": " self.handle_comm_result('XL430_ADDR_SHUTDOWN', dxl_comm_result, dxl_error)\n", + "lineno": 429, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 429, + "start_region_line": 423 + }, + { + "end_outermost_loop": 430, + "end_region_line": 1035, + "line": "\n", + "lineno": 430, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 430, + "start_region_line": 137 + }, + { + "end_outermost_loop": 439, + "end_region_line": 439, + "line": " def get_hardware_error(self):\n", + "lineno": 431, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 431, + "start_region_line": 431 + }, + { + "end_outermost_loop": 433, + "end_region_line": 439, + "line": " if not self.hw_valid:\n", + "lineno": 432, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 432, + "start_region_line": 431 + }, + { + "end_outermost_loop": 433, + "end_region_line": 439, + "line": " return 0\n", + "lineno": 433, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 433, + "start_region_line": 431 + }, + { + "end_outermost_loop": 437, + "end_region_line": 439, + "line": " with self.pt_lock:\n", + "lineno": 434, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 434, + "start_region_line": 431 + }, + { + "end_outermost_loop": 437, + "end_region_line": 439, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 435, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 435, + "start_region_line": 431 + }, + { + "end_outermost_loop": 436, + "end_region_line": 439, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,\n", + "lineno": 436, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 436, + "start_region_line": 431 + }, + { + "end_outermost_loop": 437, + "end_region_line": 439, + "line": " XL430_ADDR_HARDWARE_ERROR_STATUS)\n", + "lineno": 437, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 437, + "start_region_line": 431 + }, + { + "end_outermost_loop": 438, + "end_region_line": 439, + "line": " self.handle_comm_result('XL430_ADDR_HARDWARE_ERROR_STATUS', dxl_comm_result, dxl_error)\n", + "lineno": 438, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 438, + "start_region_line": 431 + }, + { + "end_outermost_loop": 439, + "end_region_line": 439, + "line": " return p\n", + "lineno": 439, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 439, + "start_region_line": 431 + }, + { + "end_outermost_loop": 440, + "end_region_line": 1035, + "line": "\n", + "lineno": 440, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 440, + "start_region_line": 137 + }, + { + "end_outermost_loop": 441, + "end_region_line": 1035, + "line": "\n", + "lineno": 441, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 441, + "start_region_line": 137 + }, + { + "end_outermost_loop": 448, + "end_region_line": 448, + "line": " def enable_torque(self):\n", + "lineno": 442, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 442, + "start_region_line": 442 + }, + { + "end_outermost_loop": 444, + "end_region_line": 448, + "line": " if not self.hw_valid:\n", + "lineno": 443, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 443, + "start_region_line": 442 + }, + { + "end_outermost_loop": 444, + "end_region_line": 448, + "line": " return\n", + "lineno": 444, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 444, + "start_region_line": 442 + }, + { + "end_outermost_loop": 447, + "end_region_line": 448, + "line": " with self.pt_lock:\n", + "lineno": 445, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 445, + "start_region_line": 442 + }, + { + "end_outermost_loop": 447, + "end_region_line": 448, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 446, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 446, + "start_region_line": 442 + }, + { + "end_outermost_loop": 447, + "end_region_line": 448, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TORQUE_ENABLE, 1)\n", + "lineno": 447, + "memory_samples": [ + [ + 1779390877, + 50.50844478607178 + ] + ], + "n_avg_mb": 0.0, + "n_copy_mb_s": 45.243716051609546, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 10.002431869506836, + "n_malloc_mb": 10.002431869506836, + "n_mallocs": 0, + "n_peak_mb": 10.002431869506836, + "n_python_fraction": 0.962637, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.19989979385085394, + "start_outermost_loop": 447, + "start_region_line": 442 + }, + { + "end_outermost_loop": 448, + "end_region_line": 448, + "line": " self.handle_comm_result('XL430_ADDR_TORQUE_ENABLE', dxl_comm_result, dxl_error)\n", + "lineno": 448, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 448, + "start_region_line": 442 + }, + { + "end_outermost_loop": 449, + "end_region_line": 1035, + "line": "\n", + "lineno": 449, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 449, + "start_region_line": 137 + }, + { + "end_outermost_loop": 450, + "end_region_line": 1035, + "line": "\n", + "lineno": 450, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 450, + "start_region_line": 137 + }, + { + "end_outermost_loop": 457, + "end_region_line": 457, + "line": " def disable_torque(self):\n", + "lineno": 451, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 451, + "start_region_line": 451 + }, + { + "end_outermost_loop": 453, + "end_region_line": 457, + "line": " if not self.hw_valid:\n", + "lineno": 452, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 452, + "start_region_line": 451 + }, + { + "end_outermost_loop": 453, + "end_region_line": 457, + "line": " return\n", + "lineno": 453, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 453, + "start_region_line": 451 + }, + { + "end_outermost_loop": 456, + "end_region_line": 457, + "line": " with self.pt_lock:\n", + "lineno": 454, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 454, + "start_region_line": 451 + }, + { + "end_outermost_loop": 456, + "end_region_line": 457, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 455, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 455, + "start_region_line": 451 + }, + { + "end_outermost_loop": 456, + "end_region_line": 457, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TORQUE_ENABLE, 0)\n", + "lineno": 456, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 40.3356627451006, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 456, + "start_region_line": 451 + }, + { + "end_outermost_loop": 457, + "end_region_line": 457, + "line": " self.handle_comm_result('XL430_ADDR_TORQUE_ENABLE', dxl_comm_result, dxl_error)\n", + "lineno": 457, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 457, + "start_region_line": 451 + }, + { + "end_outermost_loop": 458, + "end_region_line": 1035, + "line": "\n", + "lineno": 458, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 458, + "start_region_line": 137 + }, + { + "end_outermost_loop": 465, + "end_region_line": 465, + "line": " def set_return_delay_time(self,x):\n", + "lineno": 459, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 459, + "start_region_line": 459 + }, + { + "end_outermost_loop": 461, + "end_region_line": 465, + "line": " if not self.hw_valid:\n", + "lineno": 460, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 460, + "start_region_line": 459 + }, + { + "end_outermost_loop": 461, + "end_region_line": 465, + "line": " return\n", + "lineno": 461, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 461, + "start_region_line": 459 + }, + { + "end_outermost_loop": 464, + "end_region_line": 465, + "line": " with self.pt_lock:\n", + "lineno": 462, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 462, + "start_region_line": 459 + }, + { + "end_outermost_loop": 464, + "end_region_line": 465, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 463, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 463, + "start_region_line": 459 + }, + { + "end_outermost_loop": 464, + "end_region_line": 465, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_RETURN_DELAY_TIME, int(x))\n", + "lineno": 464, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 464, + "start_region_line": 459 + }, + { + "end_outermost_loop": 465, + "end_region_line": 465, + "line": " self.handle_comm_result('XL430_ADDR_RETURN_DELAY_TIME', dxl_comm_result, dxl_error)\n", + "lineno": 465, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 465, + "start_region_line": 459 + }, + { + "end_outermost_loop": 466, + "end_region_line": 1035, + "line": "\n", + "lineno": 466, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 466, + "start_region_line": 137 + }, + { + "end_outermost_loop": 475, + "end_region_line": 475, + "line": " def get_return_delay_time(self):\n", + "lineno": 467, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 467, + "start_region_line": 467 + }, + { + "end_outermost_loop": 469, + "end_region_line": 475, + "line": " if not self.hw_valid:\n", + "lineno": 468, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 468, + "start_region_line": 467 + }, + { + "end_outermost_loop": 469, + "end_region_line": 475, + "line": " return 0\n", + "lineno": 469, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 469, + "start_region_line": 467 + }, + { + "end_outermost_loop": 473, + "end_region_line": 475, + "line": " with self.pt_lock:\n", + "lineno": 470, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 470, + "start_region_line": 467 + }, + { + "end_outermost_loop": 473, + "end_region_line": 475, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 471, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 471, + "start_region_line": 467 + }, + { + "end_outermost_loop": 472, + "end_region_line": 475, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,\n", + "lineno": 472, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 472, + "start_region_line": 467 + }, + { + "end_outermost_loop": 473, + "end_region_line": 475, + "line": " XL430_ADDR_RETURN_DELAY_TIME)\n", + "lineno": 473, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 473, + "start_region_line": 467 + }, + { + "end_outermost_loop": 474, + "end_region_line": 475, + "line": " self.handle_comm_result('XL430_ADDR_HARDWARE_ERROR_STATUS', dxl_comm_result, dxl_error)\n", + "lineno": 474, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 474, + "start_region_line": 467 + }, + { + "end_outermost_loop": 475, + "end_region_line": 475, + "line": " return p\n", + "lineno": 475, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 475, + "start_region_line": 467 + }, + { + "end_outermost_loop": 476, + "end_region_line": 1035, + "line": "\n", + "lineno": 476, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 476, + "start_region_line": 137 + }, + { + "end_outermost_loop": 483, + "end_region_line": 483, + "line": " def set_pwm(self,x):\n", + "lineno": 477, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 477, + "start_region_line": 477 + }, + { + "end_outermost_loop": 479, + "end_region_line": 483, + "line": " if not self.hw_valid:\n", + "lineno": 478, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 478, + "start_region_line": 477 + }, + { + "end_outermost_loop": 479, + "end_region_line": 483, + "line": " return\n", + "lineno": 479, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 479, + "start_region_line": 477 + }, + { + "end_outermost_loop": 482, + "end_region_line": 483, + "line": " with self.pt_lock:\n", + "lineno": 480, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 480, + "start_region_line": 477 + }, + { + "end_outermost_loop": 482, + "end_region_line": 483, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 481, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 481, + "start_region_line": 477 + }, + { + "end_outermost_loop": 482, + "end_region_line": 483, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_GOAL_PWM, int(x))\n", + "lineno": 482, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 482, + "start_region_line": 477 + }, + { + "end_outermost_loop": 483, + "end_region_line": 483, + "line": " self.handle_comm_result('XL430_ADDR_GOAL_PWM', dxl_comm_result, dxl_error)\n", + "lineno": 483, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 483, + "start_region_line": 477 + }, + { + "end_outermost_loop": 484, + "end_region_line": 1035, + "line": "\n", + "lineno": 484, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 484, + "start_region_line": 137 + }, + { + "end_outermost_loop": 489, + "end_region_line": 489, + "line": " def set_current_limit(self,i):\n", + "lineno": 485, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 485, + "start_region_line": 485 + }, + { + "end_outermost_loop": 488, + "end_region_line": 489, + "line": " with self.pt_lock:\n", + "lineno": 486, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 486, + "start_region_line": 485 + }, + { + "end_outermost_loop": 488, + "end_region_line": 489, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 487, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 487, + "start_region_line": 485 + }, + { + "end_outermost_loop": 488, + "end_region_line": 489, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XM430_ADDR_CURRENT_LIMIT, int(i))\n", + "lineno": 488, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 488, + "start_region_line": 485 + }, + { + "end_outermost_loop": 489, + "end_region_line": 489, + "line": " self.handle_comm_result('XM430_ADDR_CURRENT_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 489, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 489, + "start_region_line": 485 + }, + { + "end_outermost_loop": 490, + "end_region_line": 1035, + "line": "\n", + "lineno": 490, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 490, + "start_region_line": 137 + }, + { + "end_outermost_loop": 499, + "end_region_line": 499, + "line": " def get_current_limit(self):\n", + "lineno": 491, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 491, + "start_region_line": 491 + }, + { + "end_outermost_loop": 493, + "end_region_line": 499, + "line": " if not self.hw_valid:\n", + "lineno": 492, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 492, + "start_region_line": 491 + }, + { + "end_outermost_loop": 493, + "end_region_line": 499, + "line": " return 0\n", + "lineno": 493, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 493, + "start_region_line": 491 + }, + { + "end_outermost_loop": 497, + "end_region_line": 499, + "line": " with self.pt_lock:\n", + "lineno": 494, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 494, + "start_region_line": 491 + }, + { + "end_outermost_loop": 497, + "end_region_line": 499, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 495, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 495, + "start_region_line": 491 + }, + { + "end_outermost_loop": 496, + "end_region_line": 499, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id,\n", + "lineno": 496, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 496, + "start_region_line": 491 + }, + { + "end_outermost_loop": 497, + "end_region_line": 499, + "line": " XM430_ADDR_CURRENT_LIMIT)\n", + "lineno": 497, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 497, + "start_region_line": 491 + }, + { + "end_outermost_loop": 498, + "end_region_line": 499, + "line": " self.handle_comm_result('XM430_ADDR_CURRENT_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 498, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 498, + "start_region_line": 491 + }, + { + "end_outermost_loop": 499, + "end_region_line": 499, + "line": " return p\n", + "lineno": 499, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 499, + "start_region_line": 491 + }, + { + "end_outermost_loop": 500, + "end_region_line": 1035, + "line": "\n", + "lineno": 500, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 500, + "start_region_line": 137 + }, + { + "end_outermost_loop": 507, + "end_region_line": 507, + "line": " def enable_multiturn(self):\n", + "lineno": 501, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 501, + "start_region_line": 501 + }, + { + "end_outermost_loop": 503, + "end_region_line": 507, + "line": " if not self.hw_valid:\n", + "lineno": 502, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 502, + "start_region_line": 501 + }, + { + "end_outermost_loop": 503, + "end_region_line": 507, + "line": " return\n", + "lineno": 503, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 503, + "start_region_line": 501 + }, + { + "end_outermost_loop": 506, + "end_region_line": 507, + "line": " with self.pt_lock:\n", + "lineno": 504, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 504, + "start_region_line": 501 + }, + { + "end_outermost_loop": 506, + "end_region_line": 507, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 505, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 505, + "start_region_line": 501 + }, + { + "end_outermost_loop": 506, + "end_region_line": 507, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 4)\n", + "lineno": 506, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 506, + "start_region_line": 501 + }, + { + "end_outermost_loop": 507, + "end_region_line": 507, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 507, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 501 + }, + { + "end_outermost_loop": 508, + "end_region_line": 1035, + "line": "\n", + "lineno": 508, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 508, + "start_region_line": 137 + }, + { + "end_outermost_loop": 515, + "end_region_line": 515, + "line": " def enable_pwm(self):\n", + "lineno": 509, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 509, + "start_region_line": 509 + }, + { + "end_outermost_loop": 511, + "end_region_line": 515, + "line": " if not self.hw_valid:\n", + "lineno": 510, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 510, + "start_region_line": 509 + }, + { + "end_outermost_loop": 511, + "end_region_line": 515, + "line": " return\n", + "lineno": 511, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 511, + "start_region_line": 509 + }, + { + "end_outermost_loop": 514, + "end_region_line": 515, + "line": " with self.pt_lock:\n", + "lineno": 512, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 512, + "start_region_line": 509 + }, + { + "end_outermost_loop": 514, + "end_region_line": 515, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 513, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 513, + "start_region_line": 509 + }, + { + "end_outermost_loop": 514, + "end_region_line": 515, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 16)\n", + "lineno": 514, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 514, + "start_region_line": 509 + }, + { + "end_outermost_loop": 515, + "end_region_line": 515, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 515, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 509 + }, + { + "end_outermost_loop": 516, + "end_region_line": 1035, + "line": "\n", + "lineno": 516, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 516, + "start_region_line": 137 + }, + { + "end_outermost_loop": 523, + "end_region_line": 523, + "line": " def enable_pos(self):\n", + "lineno": 517, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 517, + "start_region_line": 517 + }, + { + "end_outermost_loop": 519, + "end_region_line": 523, + "line": " if not self.hw_valid:\n", + "lineno": 518, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 518, + "start_region_line": 517 + }, + { + "end_outermost_loop": 519, + "end_region_line": 523, + "line": " return\n", + "lineno": 519, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 519, + "start_region_line": 517 + }, + { + "end_outermost_loop": 522, + "end_region_line": 523, + "line": " with self.pt_lock:\n", + "lineno": 520, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 520, + "start_region_line": 517 + }, + { + "end_outermost_loop": 522, + "end_region_line": 523, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 521, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 521, + "start_region_line": 517 + }, + { + "end_outermost_loop": 522, + "end_region_line": 523, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 3)\n", + "lineno": 522, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 27.619792161021117, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 522, + "start_region_line": 517 + }, + { + "end_outermost_loop": 523, + "end_region_line": 523, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 523, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 523, + "start_region_line": 517 + }, + { + "end_outermost_loop": 524, + "end_region_line": 1035, + "line": "\n", + "lineno": 524, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 524, + "start_region_line": 137 + }, + { + "end_outermost_loop": 531, + "end_region_line": 531, + "line": " def enable_vel(self):\n", + "lineno": 525, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 525, + "start_region_line": 525 + }, + { + "end_outermost_loop": 527, + "end_region_line": 531, + "line": " if not self.hw_valid:\n", + "lineno": 526, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 526, + "start_region_line": 525 + }, + { + "end_outermost_loop": 527, + "end_region_line": 531, + "line": " return\n", + "lineno": 527, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 527, + "start_region_line": 525 + }, + { + "end_outermost_loop": 530, + "end_region_line": 531, + "line": " with self.pt_lock:\n", + "lineno": 528, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 528, + "start_region_line": 525 + }, + { + "end_outermost_loop": 530, + "end_region_line": 531, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 529, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 529, + "start_region_line": 525 + }, + { + "end_outermost_loop": 530, + "end_region_line": 531, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 1)\n", + "lineno": 530, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 530, + "start_region_line": 525 + }, + { + "end_outermost_loop": 531, + "end_region_line": 531, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 531, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 531, + "start_region_line": 525 + }, + { + "end_outermost_loop": 532, + "end_region_line": 1035, + "line": "\n", + "lineno": 532, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " # XM Series\n", + "lineno": 533, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " # https://forum.robotis.com/t/how-does-current-mode-work-in-xm430-w210/203\n", + "lineno": 534, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 535, + "end_region_line": 1035, + "line": "\n", + "lineno": 535, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 535, + "start_region_line": 137 + }, + { + "end_outermost_loop": 540, + "end_region_line": 540, + "line": " def enable_pos_current(self):\n", + "lineno": 536, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 536, + "start_region_line": 536 + }, + { + "end_outermost_loop": 539, + "end_region_line": 540, + "line": " with self.pt_lock:\n", + "lineno": 537, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 537, + "start_region_line": 536 + }, + { + "end_outermost_loop": 539, + "end_region_line": 540, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 538, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 538, + "start_region_line": 536 + }, + { + "end_outermost_loop": 539, + "end_region_line": 540, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 5)\n", + "lineno": 539, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 539, + "start_region_line": 536 + }, + { + "end_outermost_loop": 540, + "end_region_line": 540, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 540, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 540, + "start_region_line": 536 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " #XM Series\n", + "lineno": 541, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 546, + "end_region_line": 546, + "line": " def enable_current(self):\n", + "lineno": 542, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 542, + "start_region_line": 542 + }, + { + "end_outermost_loop": 545, + "end_region_line": 546, + "line": " with self.pt_lock:\n", + "lineno": 543, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 543, + "start_region_line": 542 + }, + { + "end_outermost_loop": 545, + "end_region_line": 546, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 544, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 544, + "start_region_line": 542 + }, + { + "end_outermost_loop": 545, + "end_region_line": 546, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 0)\n", + "lineno": 545, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 545, + "start_region_line": 542 + }, + { + "end_outermost_loop": 546, + "end_region_line": 546, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 546, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 546, + "start_region_line": 542 + }, + { + "end_outermost_loop": 547, + "end_region_line": 1035, + "line": "\n", + "lineno": 547, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 547, + "start_region_line": 137 + }, + { + "end_outermost_loop": 548, + "end_region_line": 1035, + "line": "\n", + "lineno": 548, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 548, + "start_region_line": 137 + }, + { + "end_outermost_loop": 560, + "end_region_line": 560, + "line": " def get_operating_mode(self):\n", + "lineno": 549, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 549, + "start_region_line": 549 + }, + { + "end_outermost_loop": 551, + "end_region_line": 560, + "line": " if not self.hw_valid:\n", + "lineno": 550, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 550, + "start_region_line": 549 + }, + { + "end_outermost_loop": 551, + "end_region_line": 560, + "line": " return 0\n", + "lineno": 551, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 551, + "start_region_line": 549 + }, + { + "end_outermost_loop": 552, + "end_region_line": 560, + "line": " try:\n", + "lineno": 552, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 552, + "start_region_line": 549 + }, + { + "end_outermost_loop": 553, + "end_region_line": 560, + "line": " # Catching DynamixelCommError exception to gracefully handle overload errors without erroring out the main script\n", + "lineno": 553, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 553, + "start_region_line": 549 + }, + { + "end_outermost_loop": 556, + "end_region_line": 560, + "line": " with self.pt_lock:\n", + "lineno": 554, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 554, + "start_region_line": 549 + }, + { + "end_outermost_loop": 556, + "end_region_line": 560, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 555, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 555, + "start_region_line": 549 + }, + { + "end_outermost_loop": 556, + "end_region_line": 560, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_OPERATING_MODE)\n", + "lineno": 556, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 556, + "start_region_line": 549 + }, + { + "end_outermost_loop": 557, + "end_region_line": 560, + "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 557, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 549 + }, + { + "end_outermost_loop": 558, + "end_region_line": 560, + "line": " except Exception as DynamixelCommError:\n", + "lineno": 558, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 558, + "start_region_line": 549 + }, + { + "end_outermost_loop": 559, + "end_region_line": 560, + "line": " return 0\n", + "lineno": 559, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 559, + "start_region_line": 549 + }, + { + "end_outermost_loop": 560, + "end_region_line": 560, + "line": " return p\n", + "lineno": 560, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 560, + "start_region_line": 549 + }, + { + "end_outermost_loop": 561, + "end_region_line": 1035, + "line": "\n", + "lineno": 561, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 561, + "start_region_line": 137 + }, + { + "end_outermost_loop": 569, + "end_region_line": 569, + "line": " def get_drive_mode(self):\n", + "lineno": 562, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 562, + "start_region_line": 562 + }, + { + "end_outermost_loop": 564, + "end_region_line": 569, + "line": " if not self.hw_valid:\n", + "lineno": 563, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 563, + "start_region_line": 562 + }, + { + "end_outermost_loop": 564, + "end_region_line": 569, + "line": " return 0\n", + "lineno": 564, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 564, + "start_region_line": 562 + }, + { + "end_outermost_loop": 567, + "end_region_line": 569, + "line": " with self.pt_lock:\n", + "lineno": 565, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 562 + }, + { + "end_outermost_loop": 567, + "end_region_line": 569, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 566, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 566, + "start_region_line": 562 + }, + { + "end_outermost_loop": 567, + "end_region_line": 569, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_DRIVE_MODE)\n", + "lineno": 567, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 567, + "start_region_line": 562 + }, + { + "end_outermost_loop": 568, + "end_region_line": 569, + "line": " self.handle_comm_result('XL430_ADDR_DRIVE_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 568, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 568, + "start_region_line": 562 + }, + { + "end_outermost_loop": 569, + "end_region_line": 569, + "line": " return p\n", + "lineno": 569, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 569, + "start_region_line": 562 + }, + { + "end_outermost_loop": 570, + "end_region_line": 1035, + "line": "\n", + "lineno": 570, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 570, + "start_region_line": 137 + }, + { + "end_outermost_loop": 583, + "end_region_line": 583, + "line": " def set_drive_mode(self,vel_based=True, reverse=False):\n", + "lineno": 571, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 571, + "start_region_line": 571 + }, + { + "end_outermost_loop": 573, + "end_region_line": 583, + "line": " if not self.hw_valid:\n", + "lineno": 572, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 572, + "start_region_line": 571 + }, + { + "end_outermost_loop": 573, + "end_region_line": 583, + "line": " return\n", + "lineno": 573, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 573, + "start_region_line": 571 + }, + { + "end_outermost_loop": 583, + "end_region_line": 583, + "line": " #defaults to vel_based, not forward at factory\n", + "lineno": 574, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 571, + "start_region_line": 571 + }, + { + "end_outermost_loop": 575, + "end_region_line": 583, + "line": " x=0\n", + "lineno": 575, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 575, + "start_region_line": 571 + }, + { + "end_outermost_loop": 577, + "end_region_line": 583, + "line": " if not vel_based:\n", + "lineno": 576, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 576, + "start_region_line": 571 + }, + { + "end_outermost_loop": 577, + "end_region_line": 583, + "line": " x=x|0x01\n", + "lineno": 577, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 577, + "start_region_line": 571 + }, + { + "end_outermost_loop": 579, + "end_region_line": 583, + "line": " if reverse:\n", + "lineno": 578, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 578, + "start_region_line": 571 + }, + { + "end_outermost_loop": 579, + "end_region_line": 583, + "line": " x=x|0x4\n", + "lineno": 579, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 579, + "start_region_line": 571 + }, + { + "end_outermost_loop": 582, + "end_region_line": 583, + "line": " with self.pt_lock:\n", + "lineno": 580, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 580, + "start_region_line": 571 + }, + { + "end_outermost_loop": 582, + "end_region_line": 583, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 581, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 581, + "start_region_line": 571 + }, + { + "end_outermost_loop": 582, + "end_region_line": 583, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_DRIVE_MODE, x)\n", + "lineno": 582, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 582, + "start_region_line": 571 + }, + { + "end_outermost_loop": 583, + "end_region_line": 583, + "line": " self.handle_comm_result('XL430_ADDR_DRIVE_MODE', dxl_comm_result, dxl_error)\n", + "lineno": 583, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 583, + "start_region_line": 571 + }, + { + "end_outermost_loop": 584, + "end_region_line": 1035, + "line": "\n", + "lineno": 584, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 584, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " #XM Series\n", + "lineno": 585, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 590, + "end_region_line": 590, + "line": " def set_goal_current(self,i):\n", + "lineno": 586, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 586, + "start_region_line": 586 + }, + { + "end_outermost_loop": 589, + "end_region_line": 590, + "line": " with self.pt_lock:\n", + "lineno": 587, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 587, + "start_region_line": 586 + }, + { + "end_outermost_loop": 589, + "end_region_line": 590, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 588, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 588, + "start_region_line": 586 + }, + { + "end_outermost_loop": 589, + "end_region_line": 590, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XM430_ADDR_GOAL_CURRENT, int(i))\n", + "lineno": 589, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 589, + "start_region_line": 586 + }, + { + "end_outermost_loop": 590, + "end_region_line": 590, + "line": " self.handle_comm_result('XM430_ADDR_GOAL_CURRENT', dxl_comm_result, dxl_error)\n", + "lineno": 590, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 590, + "start_region_line": 586 + }, + { + "end_outermost_loop": 591, + "end_region_line": 1035, + "line": "\n", + "lineno": 591, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 137 + }, + { + "end_outermost_loop": 600, + "end_region_line": 600, + "line": " def get_goal_current(self):\n", + "lineno": 592, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 594, + "end_region_line": 600, + "line": " if not self.hw_valid:\n", + "lineno": 593, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 593, + "start_region_line": 592 + }, + { + "end_outermost_loop": 594, + "end_region_line": 600, + "line": " return 0\n", + "lineno": 594, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 594, + "start_region_line": 592 + }, + { + "end_outermost_loop": 598, + "end_region_line": 600, + "line": " with self.pt_lock:\n", + "lineno": 595, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 595, + "start_region_line": 592 + }, + { + "end_outermost_loop": 598, + "end_region_line": 600, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 596, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 596, + "start_region_line": 592 + }, + { + "end_outermost_loop": 597, + "end_region_line": 600, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id,\n", + "lineno": 597, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 597, + "start_region_line": 592 + }, + { + "end_outermost_loop": 598, + "end_region_line": 600, + "line": " XM430_ADDR_GOAL_CURRENT)\n", + "lineno": 598, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 600, + "line": " self.handle_comm_result('XM430_ADDR_GOAL_CURRENT', dxl_comm_result, dxl_error)\n", + "lineno": 599, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 599, + "start_region_line": 592 + }, + { + "end_outermost_loop": 600, + "end_region_line": 600, + "line": " return p\n", + "lineno": 600, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 600, + "start_region_line": 592 + }, + { + "end_outermost_loop": 601, + "end_region_line": 1035, + "line": "\n", + "lineno": 601, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 601, + "start_region_line": 137 + }, + { + "end_outermost_loop": 608, + "end_region_line": 608, + "line": " def go_to_pos(self,x):\n", + "lineno": 602, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 602, + "start_region_line": 602 + }, + { + "end_outermost_loop": 604, + "end_region_line": 608, + "line": " if not self.hw_valid:\n", + "lineno": 603, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 603, + "start_region_line": 602 + }, + { + "end_outermost_loop": 604, + "end_region_line": 608, + "line": " return\n", + "lineno": 604, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 604, + "start_region_line": 602 + }, + { + "end_outermost_loop": 607, + "end_region_line": 608, + "line": " with self.pt_lock:\n", + "lineno": 605, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 605, + "start_region_line": 602 + }, + { + "end_outermost_loop": 607, + "end_region_line": 608, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 606, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 606, + "start_region_line": 602 + }, + { + "end_outermost_loop": 607, + "end_region_line": 608, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_GOAL_POSITION, int(x))\n", + "lineno": 607, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 607, + "start_region_line": 602 + }, + { + "end_outermost_loop": 608, + "end_region_line": 608, + "line": " self.handle_comm_result('XL430_ADDR_GOAL_POSITION', dxl_comm_result, dxl_error)\n", + "lineno": 608, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 608, + "start_region_line": 602 + }, + { + "end_outermost_loop": 609, + "end_region_line": 1035, + "line": "\n", + "lineno": 609, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 609, + "start_region_line": 137 + }, + { + "end_outermost_loop": 615, + "end_region_line": 615, + "line": " def set_vel(self, x):\n", + "lineno": 610, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 610, + "start_region_line": 610 + }, + { + "end_outermost_loop": 614, + "end_region_line": 615, + "line": " with self.pt_lock:\n", + "lineno": 611, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 611, + "start_region_line": 610 + }, + { + "end_outermost_loop": 614, + "end_region_line": 615, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 612, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 612, + "start_region_line": 610 + }, + { + "end_outermost_loop": 613, + "end_region_line": 615, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id,\n", + "lineno": 613, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 613, + "start_region_line": 610 + }, + { + "end_outermost_loop": 614, + "end_region_line": 615, + "line": " XL430_ADDR_GOAL_VEL, int(x))\n", + "lineno": 614, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 614, + "start_region_line": 610 + }, + { + "end_outermost_loop": 615, + "end_region_line": 615, + "line": " self.handle_comm_result('XL430_ADDR_GOAL_VEL', dxl_comm_result, dxl_error)\n", + "lineno": 615, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 615, + "start_region_line": 610 + }, + { + "end_outermost_loop": 616, + "end_region_line": 1035, + "line": "\n", + "lineno": 616, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 616, + "start_region_line": 137 + }, + { + "end_outermost_loop": 635, + "end_region_line": 635, + "line": " def enable_watchdog(self, timeout_20msec=50):\n", + "lineno": 617, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 617, + "start_region_line": 617 + }, + { + "end_outermost_loop": 618, + "end_region_line": 635, + "line": " \"\"\"Enables bus monitoring to stop safely if communications fails.\n", + "lineno": 618, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 618, + "start_region_line": 617 + }, + { + "end_outermost_loop": 619, + "end_region_line": 635, + "line": "\n", + "lineno": 619, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 619, + "start_region_line": 617 + }, + { + "end_outermost_loop": 620, + "end_region_line": 635, + "line": " In any operating mode, a watchdog may be enabled on the Dynamixel\n", + "lineno": 620, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 620, + "start_region_line": 617 + }, + { + "end_outermost_loop": 621, + "end_region_line": 635, + "line": " hardware. If bus communication ceases for longer than a specified\n", + "lineno": 621, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 621, + "start_region_line": 617 + }, + { + "end_outermost_loop": 622, + "end_region_line": 635, + "line": " timeout, the hardware enters watchdog error mode. New commands will\n", + "lineno": 622, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 622, + "start_region_line": 617 + }, + { + "end_outermost_loop": 623, + "end_region_line": 635, + "line": " not execute until watchdog is disabled. Watchdog can be used with\n", + "lineno": 623, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 617 + }, + { + "end_outermost_loop": 624, + "end_region_line": 635, + "line": " velocity control to prevent undesired behavior in case of software\n", + "lineno": 624, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 624, + "start_region_line": 617 + }, + { + "end_outermost_loop": 625, + "end_region_line": 635, + "line": " failure.\n", + "lineno": 625, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 625, + "start_region_line": 617 + }, + { + "end_outermost_loop": 626, + "end_region_line": 635, + "line": "\n", + "lineno": 626, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 626, + "start_region_line": 617 + }, + { + "end_outermost_loop": 627, + "end_region_line": 635, + "line": " Parameters\n", + "lineno": 627, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 627, + "start_region_line": 617 + }, + { + "end_outermost_loop": 628, + "end_region_line": 635, + "line": " ----------\n", + "lineno": 628, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 628, + "start_region_line": 617 + }, + { + "end_outermost_loop": 629, + "end_region_line": 635, + "line": " timeout_20msec : int\n", + "lineno": 629, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 629, + "start_region_line": 617 + }, + { + "end_outermost_loop": 630, + "end_region_line": 635, + "line": " value in range [1, 127] calculates timeout as value * 20 milliseconds (default 1s)\n", + "lineno": 630, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 630, + "start_region_line": 617 + }, + { + "end_outermost_loop": 631, + "end_region_line": 635, + "line": " \"\"\"\n", + "lineno": 631, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 631, + "start_region_line": 617 + }, + { + "end_outermost_loop": 634, + "end_region_line": 635, + "line": " with self.pt_lock:\n", + "lineno": 632, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 632, + "start_region_line": 617 + }, + { + "end_outermost_loop": 634, + "end_region_line": 635, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 633, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 633, + "start_region_line": 617 + }, + { + "end_outermost_loop": 634, + "end_region_line": 635, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BUS_WATCHDOG, timeout_20msec)\n", + "lineno": 634, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 634, + "start_region_line": 617 + }, + { + "end_outermost_loop": 635, + "end_region_line": 635, + "line": " self.handle_comm_result('XL430_ADDR_BUS_WATCHDOG', dxl_comm_result, dxl_error)\n", + "lineno": 635, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 635, + "start_region_line": 617 + }, + { + "end_outermost_loop": 636, + "end_region_line": 1035, + "line": "\n", + "lineno": 636, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 636, + "start_region_line": 137 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " def disable_watchdog(self):\n", + "lineno": 637, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 637, + "start_region_line": 637 + }, + { + "end_outermost_loop": 638, + "end_region_line": 646, + "line": " \"\"\"Disables watchdog bus monitoring.\n", + "lineno": 638, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 638, + "start_region_line": 637 + }, + { + "end_outermost_loop": 639, + "end_region_line": 646, + "line": "\n", + "lineno": 639, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 639, + "start_region_line": 637 + }, + { + "end_outermost_loop": 640, + "end_region_line": 646, + "line": " In case of watchdog error occurred, no new goal commands will execute\n", + "lineno": 640, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 640, + "start_region_line": 637 + }, + { + "end_outermost_loop": 641, + "end_region_line": 646, + "line": " until watchdog disabled with this function.\n", + "lineno": 641, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 641, + "start_region_line": 637 + }, + { + "end_outermost_loop": 642, + "end_region_line": 646, + "line": " \"\"\"\n", + "lineno": 642, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 637 + }, + { + "end_outermost_loop": 645, + "end_region_line": 646, + "line": " with self.pt_lock:\n", + "lineno": 643, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 643, + "start_region_line": 637 + }, + { + "end_outermost_loop": 645, + "end_region_line": 646, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 644, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 644, + "start_region_line": 637 + }, + { + "end_outermost_loop": 645, + "end_region_line": 646, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BUS_WATCHDOG, 0)\n", + "lineno": 645, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 645, + "start_region_line": 637 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " self.handle_comm_result('XL430_ADDR_BUS_WATCHDOG', dxl_comm_result, dxl_error)\n", + "lineno": 646, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 646, + "start_region_line": 637 + }, + { + "end_outermost_loop": 647, + "end_region_line": 1035, + "line": "\n", + "lineno": 647, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 647, + "start_region_line": 137 + }, + { + "end_outermost_loop": 660, + "end_region_line": 660, + "line": " def get_watchdog_error(self):\n", + "lineno": 648, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 648, + "start_region_line": 648 + }, + { + "end_outermost_loop": 649, + "end_region_line": 660, + "line": " \"\"\"Checks if watchdog error occurred.\n", + "lineno": 649, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 649, + "start_region_line": 648 + }, + { + "end_outermost_loop": 650, + "end_region_line": 660, + "line": "\n", + "lineno": 650, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 650, + "start_region_line": 648 + }, + { + "end_outermost_loop": 651, + "end_region_line": 660, + "line": " Returns\n", + "lineno": 651, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 651, + "start_region_line": 648 + }, + { + "end_outermost_loop": 652, + "end_region_line": 660, + "line": " -------\n", + "lineno": 652, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 652, + "start_region_line": 648 + }, + { + "end_outermost_loop": 653, + "end_region_line": 660, + "line": " bool\n", + "lineno": 653, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 653, + "start_region_line": 648 + }, + { + "end_outermost_loop": 654, + "end_region_line": 660, + "line": " True if watchdog detected no communication for longer than watchdog timeout\n", + "lineno": 654, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 654, + "start_region_line": 648 + }, + { + "end_outermost_loop": 655, + "end_region_line": 660, + "line": " \"\"\"\n", + "lineno": 655, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 655, + "start_region_line": 648 + }, + { + "end_outermost_loop": 658, + "end_region_line": 660, + "line": " with self.pt_lock:\n", + "lineno": 656, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 656, + "start_region_line": 648 + }, + { + "end_outermost_loop": 658, + "end_region_line": 660, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 657, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 657, + "start_region_line": 648 + }, + { + "end_outermost_loop": 658, + "end_region_line": 660, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BUS_WATCHDOG)\n", + "lineno": 658, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 658, + "start_region_line": 648 + }, + { + "end_outermost_loop": 659, + "end_region_line": 660, + "line": " self.handle_comm_result('XL430_ADDR_BUS_WATCHDOG', dxl_comm_result, dxl_error)\n", + "lineno": 659, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 659, + "start_region_line": 648 + }, + { + "end_outermost_loop": 660, + "end_region_line": 660, + "line": " return p == 255\n", + "lineno": 660, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 660, + "start_region_line": 648 + }, + { + "end_outermost_loop": 661, + "end_region_line": 1035, + "line": "\n", + "lineno": 661, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 661, + "start_region_line": 137 + }, + { + "end_outermost_loop": 669, + "end_region_line": 669, + "line": " def get_current(self):\n", + "lineno": 662, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 662, + "start_region_line": 662 + }, + { + "end_outermost_loop": 664, + "end_region_line": 669, + "line": " if not self.hw_valid:\n", + "lineno": 663, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 663, + "start_region_line": 662 + }, + { + "end_outermost_loop": 664, + "end_region_line": 669, + "line": " return 0\n", + "lineno": 664, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 664, + "start_region_line": 662 + }, + { + "end_outermost_loop": 667, + "end_region_line": 669, + "line": " with self.pt_lock:\n", + "lineno": 665, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 665, + "start_region_line": 662 + }, + { + "end_outermost_loop": 667, + "end_region_line": 669, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 666, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 666, + "start_region_line": 662 + }, + { + "end_outermost_loop": 667, + "end_region_line": 669, + "line": " xn, dxl_comm_result, dxl_error= self.read_int16_t(XM430_ADDR_PRESENT_CURRENT)\n", + "lineno": 667, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 667, + "start_region_line": 662 + }, + { + "end_outermost_loop": 668, + "end_region_line": 669, + "line": " self.handle_comm_result('XM430_ADDR_PRESENT_CURRENT', dxl_comm_result, dxl_error)\n", + "lineno": 668, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 668, + "start_region_line": 662 + }, + { + "end_outermost_loop": 669, + "end_region_line": 669, + "line": " return xn\n", + "lineno": 669, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 669, + "start_region_line": 662 + }, + { + "end_outermost_loop": 670, + "end_region_line": 1035, + "line": "\n", + "lineno": 670, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 670, + "start_region_line": 137 + }, + { + "end_outermost_loop": 678, + "end_region_line": 678, + "line": " def get_pos(self):\n", + "lineno": 671, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 671, + "start_region_line": 671 + }, + { + "end_outermost_loop": 673, + "end_region_line": 678, + "line": " if not self.hw_valid:\n", + "lineno": 672, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 672, + "start_region_line": 671 + }, + { + "end_outermost_loop": 673, + "end_region_line": 678, + "line": " return 0\n", + "lineno": 673, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 673, + "start_region_line": 671 + }, + { + "end_outermost_loop": 676, + "end_region_line": 678, + "line": " with self.pt_lock:\n", + "lineno": 674, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 674, + "start_region_line": 671 + }, + { + "end_outermost_loop": 676, + "end_region_line": 678, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 675, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 675, + "start_region_line": 671 + }, + { + "end_outermost_loop": 676, + "end_region_line": 678, + "line": " xn, dxl_comm_result, dxl_error= self.read_int32_t(XL430_ADDR_PRESENT_POSITION)\n", + "lineno": 676, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 676, + "start_region_line": 671 + }, + { + "end_outermost_loop": 677, + "end_region_line": 678, + "line": " self.handle_comm_result('XL430_ADDR_PRESENT_POSITION', dxl_comm_result, dxl_error)\n", + "lineno": 677, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 677, + "start_region_line": 671 + }, + { + "end_outermost_loop": 678, + "end_region_line": 678, + "line": " return xn\n", + "lineno": 678, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 678, + "start_region_line": 671 + }, + { + "end_outermost_loop": 679, + "end_region_line": 1035, + "line": "\n", + "lineno": 679, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 679, + "start_region_line": 137 + }, + { + "end_outermost_loop": 687, + "end_region_line": 687, + "line": " def get_moving_status(self):\n", + "lineno": 680, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 680, + "start_region_line": 680 + }, + { + "end_outermost_loop": 682, + "end_region_line": 687, + "line": " if not self.hw_valid:\n", + "lineno": 681, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 681, + "start_region_line": 680 + }, + { + "end_outermost_loop": 682, + "end_region_line": 687, + "line": " return\n", + "lineno": 682, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 682, + "start_region_line": 680 + }, + { + "end_outermost_loop": 685, + "end_region_line": 687, + "line": " with self.pt_lock:\n", + "lineno": 683, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 683, + "start_region_line": 680 + }, + { + "end_outermost_loop": 685, + "end_region_line": 687, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 684, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 684, + "start_region_line": 680 + }, + { + "end_outermost_loop": 685, + "end_region_line": 687, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MOVING_STATUS)\n", + "lineno": 685, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 685, + "start_region_line": 680 + }, + { + "end_outermost_loop": 686, + "end_region_line": 687, + "line": " self.handle_comm_result('XL430_ADDR_MOVING_STATUS', dxl_comm_result, dxl_error)\n", + "lineno": 686, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 686, + "start_region_line": 680 + }, + { + "end_outermost_loop": 687, + "end_region_line": 687, + "line": " return p\n", + "lineno": 687, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 687, + "start_region_line": 680 + }, + { + "end_outermost_loop": 688, + "end_region_line": 1035, + "line": "\n", + "lineno": 688, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 688, + "start_region_line": 137 + }, + { + "end_outermost_loop": 696, + "end_region_line": 696, + "line": " def get_load(self):\n", + "lineno": 689, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 689, + "start_region_line": 689 + }, + { + "end_outermost_loop": 691, + "end_region_line": 696, + "line": " if not self.hw_valid:\n", + "lineno": 690, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 690, + "start_region_line": 689 + }, + { + "end_outermost_loop": 691, + "end_region_line": 696, + "line": " return 0\n", + "lineno": 691, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 691, + "start_region_line": 689 + }, + { + "end_outermost_loop": 694, + "end_region_line": 696, + "line": " with self.pt_lock:\n", + "lineno": 692, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 692, + "start_region_line": 689 + }, + { + "end_outermost_loop": 694, + "end_region_line": 696, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 693, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 693, + "start_region_line": 689 + }, + { + "end_outermost_loop": 694, + "end_region_line": 696, + "line": " xn, dxl_comm_result, dxl_error= self.read_int16_t(XL430_ADDR_PRESENT_LOAD)\n", + "lineno": 694, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 694, + "start_region_line": 689 + }, + { + "end_outermost_loop": 695, + "end_region_line": 696, + "line": " self.handle_comm_result('XL430_ADDR_PRESENT_LOAD', dxl_comm_result, dxl_error)\n", + "lineno": 695, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 695, + "start_region_line": 689 + }, + { + "end_outermost_loop": 696, + "end_region_line": 696, + "line": " return xn\n", + "lineno": 696, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 696, + "start_region_line": 689 + }, + { + "end_outermost_loop": 697, + "end_region_line": 1035, + "line": "\n", + "lineno": 697, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 697, + "start_region_line": 137 + }, + { + "end_outermost_loop": 705, + "end_region_line": 705, + "line": " def get_pwm(self):\n", + "lineno": 698, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 698, + "start_region_line": 698 + }, + { + "end_outermost_loop": 700, + "end_region_line": 705, + "line": " if not self.hw_valid:\n", + "lineno": 699, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 699, + "start_region_line": 698 + }, + { + "end_outermost_loop": 700, + "end_region_line": 705, + "line": " return 0\n", + "lineno": 700, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 700, + "start_region_line": 698 + }, + { + "end_outermost_loop": 703, + "end_region_line": 705, + "line": " with self.pt_lock:\n", + "lineno": 701, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 701, + "start_region_line": 698 + }, + { + "end_outermost_loop": 703, + "end_region_line": 705, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 702, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 702, + "start_region_line": 698 + }, + { + "end_outermost_loop": 703, + "end_region_line": 705, + "line": " xn, dxl_comm_result, dxl_error= self.read_int16_t(XL430_ADDR_PRESENT_PWM)\n", + "lineno": 703, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 703, + "start_region_line": 698 + }, + { + "end_outermost_loop": 704, + "end_region_line": 705, + "line": " self.handle_comm_result('XL430_ADDR_PRESENT_PWM', dxl_comm_result, dxl_error)\n", + "lineno": 704, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 704, + "start_region_line": 698 + }, + { + "end_outermost_loop": 705, + "end_region_line": 705, + "line": " return xn\n", + "lineno": 705, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 705, + "start_region_line": 698 + }, + { + "end_outermost_loop": 706, + "end_region_line": 1035, + "line": "\n", + "lineno": 706, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 706, + "start_region_line": 137 + }, + { + "end_outermost_loop": 717, + "end_region_line": 717, + "line": " def set_profile_velocity(self,v):\n", + "lineno": 707, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 707, + "start_region_line": 707 + }, + { + "end_outermost_loop": 709, + "end_region_line": 717, + "line": " if not self.hw_valid:\n", + "lineno": 708, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 708, + "start_region_line": 707 + }, + { + "end_outermost_loop": 709, + "end_region_line": 717, + "line": " return\n", + "lineno": 709, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 709, + "start_region_line": 707 + }, + { + "end_outermost_loop": 713, + "end_region_line": 717, + "line": " if abs(v)\\u003c1:\n", + "lineno": 710, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 710, + "start_region_line": 707 + }, + { + "end_outermost_loop": 713, + "end_region_line": 717, + "line": " # Dxls assumes Zero ticks/s as infinite/max velocity which is counterintutive\n", + "lineno": 711, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 710, + "start_region_line": 707 + }, + { + "end_outermost_loop": 713, + "end_region_line": 717, + "line": " # Therefore setting a zero will assign to the lowest possible velocity 1 ticks/s\n", + "lineno": 712, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 710, + "start_region_line": 707 + }, + { + "end_outermost_loop": 713, + "end_region_line": 717, + "line": " v = 1\n", + "lineno": 713, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 713, + "start_region_line": 707 + }, + { + "end_outermost_loop": 716, + "end_region_line": 717, + "line": " with self.pt_lock:\n", + "lineno": 714, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 714, + "start_region_line": 707 + }, + { + "end_outermost_loop": 716, + "end_region_line": 717, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 715, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 715, + "start_region_line": 707 + }, + { + "end_outermost_loop": 716, + "end_region_line": 717, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PROFILE_VELOCITY, int(v))\n", + "lineno": 716, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 716, + "start_region_line": 707 + }, + { + "end_outermost_loop": 717, + "end_region_line": 717, + "line": " self.handle_comm_result('XL430_ADDR_PROFILE_VELOCITY', dxl_comm_result, dxl_error)\n", + "lineno": 717, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 717, + "start_region_line": 707 + }, + { + "end_outermost_loop": 718, + "end_region_line": 1035, + "line": "\n", + "lineno": 718, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 718, + "start_region_line": 137 + }, + { + "end_outermost_loop": 729, + "end_region_line": 729, + "line": " def set_profile_acceleration(self, a):\n", + "lineno": 719, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 719, + "start_region_line": 719 + }, + { + "end_outermost_loop": 721, + "end_region_line": 729, + "line": " if not self.hw_valid:\n", + "lineno": 720, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 720, + "start_region_line": 719 + }, + { + "end_outermost_loop": 721, + "end_region_line": 729, + "line": " return\n", + "lineno": 721, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 721, + "start_region_line": 719 + }, + { + "end_outermost_loop": 725, + "end_region_line": 729, + "line": " if abs(a)\\u003c1:\n", + "lineno": 722, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 722, + "start_region_line": 719 + }, + { + "end_outermost_loop": 725, + "end_region_line": 729, + "line": " # Dxls assumes Zero ticks/s^2 as infinite/max acceleration which is counterintutive\n", + "lineno": 723, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 722, + "start_region_line": 719 + }, + { + "end_outermost_loop": 725, + "end_region_line": 729, + "line": " # Therefore setting a zero will assign to the lowest possible acceleration 1 ticks/s^2\n", + "lineno": 724, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 722, + "start_region_line": 719 + }, + { + "end_outermost_loop": 725, + "end_region_line": 729, + "line": " a = 1\n", + "lineno": 725, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 725, + "start_region_line": 719 + }, + { + "end_outermost_loop": 728, + "end_region_line": 729, + "line": " with self.pt_lock:\n", + "lineno": 726, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 726, + "start_region_line": 719 + }, + { + "end_outermost_loop": 728, + "end_region_line": 729, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 727, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 727, + "start_region_line": 719 + }, + { + "end_outermost_loop": 728, + "end_region_line": 729, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_PROFILE_ACCELERATION, int(a))\n", + "lineno": 728, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 728, + "start_region_line": 719 + }, + { + "end_outermost_loop": 729, + "end_region_line": 729, + "line": " self.handle_comm_result('XL430_ADDR_PROFILE_ACCELERATION', dxl_comm_result, dxl_error)\n", + "lineno": 729, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 729, + "start_region_line": 719 + }, + { + "end_outermost_loop": 730, + "end_region_line": 1035, + "line": "\n", + "lineno": 730, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 730, + "start_region_line": 137 + }, + { + "end_outermost_loop": 731, + "end_region_line": 1035, + "line": "\n", + "lineno": 731, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 731, + "start_region_line": 137 + }, + { + "end_outermost_loop": 739, + "end_region_line": 739, + "line": " def get_profile_velocity(self):\n", + "lineno": 732, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 732, + "start_region_line": 732 + }, + { + "end_outermost_loop": 734, + "end_region_line": 739, + "line": " if not self.hw_valid:\n", + "lineno": 733, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 733, + "start_region_line": 732 + }, + { + "end_outermost_loop": 734, + "end_region_line": 739, + "line": " return 0\n", + "lineno": 734, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 734, + "start_region_line": 732 + }, + { + "end_outermost_loop": 737, + "end_region_line": 739, + "line": " with self.pt_lock:\n", + "lineno": 735, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 735, + "start_region_line": 732 + }, + { + "end_outermost_loop": 737, + "end_region_line": 739, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 736, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 736, + "start_region_line": 732 + }, + { + "end_outermost_loop": 737, + "end_region_line": 739, + "line": " v, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PROFILE_VELOCITY)\n", + "lineno": 737, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 737, + "start_region_line": 732 + }, + { + "end_outermost_loop": 738, + "end_region_line": 739, + "line": " self.handle_comm_result('XL430_ADDR_PROFILE_VELOCITY', dxl_comm_result, dxl_error)\n", + "lineno": 738, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 738, + "start_region_line": 732 + }, + { + "end_outermost_loop": 739, + "end_region_line": 739, + "line": " return v\n", + "lineno": 739, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 739, + "start_region_line": 732 + }, + { + "end_outermost_loop": 740, + "end_region_line": 1035, + "line": "\n", + "lineno": 740, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 740, + "start_region_line": 137 + }, + { + "end_outermost_loop": 748, + "end_region_line": 748, + "line": " def get_profile_acceleration(self):\n", + "lineno": 741, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 741, + "start_region_line": 741 + }, + { + "end_outermost_loop": 743, + "end_region_line": 748, + "line": " if not self.hw_valid:\n", + "lineno": 742, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 742, + "start_region_line": 741 + }, + { + "end_outermost_loop": 743, + "end_region_line": 748, + "line": " return 0\n", + "lineno": 743, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 743, + "start_region_line": 741 + }, + { + "end_outermost_loop": 746, + "end_region_line": 748, + "line": " with self.pt_lock:\n", + "lineno": 744, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 744, + "start_region_line": 741 + }, + { + "end_outermost_loop": 746, + "end_region_line": 748, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 745, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 745, + "start_region_line": 741 + }, + { + "end_outermost_loop": 746, + "end_region_line": 748, + "line": " a, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PROFILE_ACCELERATION)\n", + "lineno": 746, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 746, + "start_region_line": 741 + }, + { + "end_outermost_loop": 747, + "end_region_line": 748, + "line": " self.handle_comm_result('XL430_ADDR_PROFILE_ACCELERATION', dxl_comm_result, dxl_error)\n", + "lineno": 747, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 747, + "start_region_line": 741 + }, + { + "end_outermost_loop": 748, + "end_region_line": 748, + "line": " return a\n", + "lineno": 748, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 748, + "start_region_line": 741 + }, + { + "end_outermost_loop": 749, + "end_region_line": 1035, + "line": "\n", + "lineno": 749, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 749, + "start_region_line": 137 + }, + { + "end_outermost_loop": 759, + "end_region_line": 759, + "line": " def get_vel(self):\n", + "lineno": 750, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 750, + "start_region_line": 750 + }, + { + "end_outermost_loop": 752, + "end_region_line": 759, + "line": " if not self.hw_valid:\n", + "lineno": 751, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 751, + "start_region_line": 750 + }, + { + "end_outermost_loop": 752, + "end_region_line": 759, + "line": " return 0\n", + "lineno": 752, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 752, + "start_region_line": 750 + }, + { + "end_outermost_loop": 755, + "end_region_line": 759, + "line": " with self.pt_lock:\n", + "lineno": 753, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 753, + "start_region_line": 750 + }, + { + "end_outermost_loop": 755, + "end_region_line": 759, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 754, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 754, + "start_region_line": 750 + }, + { + "end_outermost_loop": 755, + "end_region_line": 759, + "line": " v, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PRESENT_VELOCITY)\n", + "lineno": 755, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 755, + "start_region_line": 750 + }, + { + "end_outermost_loop": 756, + "end_region_line": 759, + "line": " self.handle_comm_result('XL430_ADDR_PRESENT_VELOCITY', dxl_comm_result, dxl_error)\n", + "lineno": 756, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 756, + "start_region_line": 750 + }, + { + "end_outermost_loop": 758, + "end_region_line": 759, + "line": " if v \\u003e 2 ** 24:\n", + "lineno": 757, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 757, + "start_region_line": 750 + }, + { + "end_outermost_loop": 758, + "end_region_line": 759, + "line": " v = v - 2 ** 32\n", + "lineno": 758, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 758, + "start_region_line": 750 + }, + { + "end_outermost_loop": 759, + "end_region_line": 759, + "line": " return v\n", + "lineno": 759, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 759, + "start_region_line": 750 + }, + { + "end_outermost_loop": 760, + "end_region_line": 1035, + "line": "\n", + "lineno": 760, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 760, + "start_region_line": 137 + }, + { + "end_outermost_loop": 768, + "end_region_line": 768, + "line": " def get_P_gain(self):\n", + "lineno": 761, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 761, + "start_region_line": 761 + }, + { + "end_outermost_loop": 763, + "end_region_line": 768, + "line": " if not self.hw_valid:\n", + "lineno": 762, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 762, + "start_region_line": 761 + }, + { + "end_outermost_loop": 763, + "end_region_line": 768, + "line": " return 0\n", + "lineno": 763, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 763, + "start_region_line": 761 + }, + { + "end_outermost_loop": 766, + "end_region_line": 768, + "line": " with self.pt_lock:\n", + "lineno": 764, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 764, + "start_region_line": 761 + }, + { + "end_outermost_loop": 766, + "end_region_line": 768, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 765, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 765, + "start_region_line": 761 + }, + { + "end_outermost_loop": 766, + "end_region_line": 768, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_P_GAIN)\n", + "lineno": 766, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 766, + "start_region_line": 761 + }, + { + "end_outermost_loop": 767, + "end_region_line": 768, + "line": " self.handle_comm_result('XL430_ADDR_POS_P_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 767, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 767, + "start_region_line": 761 + }, + { + "end_outermost_loop": 768, + "end_region_line": 768, + "line": " return p\n", + "lineno": 768, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 768, + "start_region_line": 761 + }, + { + "end_outermost_loop": 769, + "end_region_line": 1035, + "line": "\n", + "lineno": 769, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 769, + "start_region_line": 137 + }, + { + "end_outermost_loop": 776, + "end_region_line": 776, + "line": " def set_P_gain(self,x):\n", + "lineno": 770, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 770, + "start_region_line": 770 + }, + { + "end_outermost_loop": 772, + "end_region_line": 776, + "line": " if not self.hw_valid:\n", + "lineno": 771, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 771, + "start_region_line": 770 + }, + { + "end_outermost_loop": 772, + "end_region_line": 776, + "line": " return\n", + "lineno": 772, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 772, + "start_region_line": 770 + }, + { + "end_outermost_loop": 775, + "end_region_line": 776, + "line": " with self.pt_lock:\n", + "lineno": 773, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 773, + "start_region_line": 770 + }, + { + "end_outermost_loop": 775, + "end_region_line": 776, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 774, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 774, + "start_region_line": 770 + }, + { + "end_outermost_loop": 775, + "end_region_line": 776, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_P_GAIN, int(x))\n", + "lineno": 775, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 775, + "start_region_line": 770 + }, + { + "end_outermost_loop": 776, + "end_region_line": 776, + "line": " self.handle_comm_result('XL430_ADDR_POS_P_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 776, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 776, + "start_region_line": 770 + }, + { + "end_outermost_loop": 777, + "end_region_line": 1035, + "line": "\n", + "lineno": 777, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 777, + "start_region_line": 137 + }, + { + "end_outermost_loop": 785, + "end_region_line": 785, + "line": " def get_D_gain(self):\n", + "lineno": 778, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 778, + "start_region_line": 778 + }, + { + "end_outermost_loop": 780, + "end_region_line": 785, + "line": " if not self.hw_valid:\n", + "lineno": 779, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 779, + "start_region_line": 778 + }, + { + "end_outermost_loop": 780, + "end_region_line": 785, + "line": " return 0\n", + "lineno": 780, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 780, + "start_region_line": 778 + }, + { + "end_outermost_loop": 783, + "end_region_line": 785, + "line": " with self.pt_lock:\n", + "lineno": 781, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 781, + "start_region_line": 778 + }, + { + "end_outermost_loop": 783, + "end_region_line": 785, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 782, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 782, + "start_region_line": 778 + }, + { + "end_outermost_loop": 783, + "end_region_line": 785, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_D_GAIN)\n", + "lineno": 783, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 783, + "start_region_line": 778 + }, + { + "end_outermost_loop": 784, + "end_region_line": 785, + "line": " self.handle_comm_result('XL430_ADDR_POS_D_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 784, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 784, + "start_region_line": 778 + }, + { + "end_outermost_loop": 785, + "end_region_line": 785, + "line": " return p\n", + "lineno": 785, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 785, + "start_region_line": 778 + }, + { + "end_outermost_loop": 786, + "end_region_line": 1035, + "line": "\n", + "lineno": 786, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 786, + "start_region_line": 137 + }, + { + "end_outermost_loop": 793, + "end_region_line": 793, + "line": " def set_D_gain(self,x):\n", + "lineno": 787, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 787, + "start_region_line": 787 + }, + { + "end_outermost_loop": 789, + "end_region_line": 793, + "line": " if not self.hw_valid:\n", + "lineno": 788, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 788, + "start_region_line": 787 + }, + { + "end_outermost_loop": 789, + "end_region_line": 793, + "line": " return\n", + "lineno": 789, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 789, + "start_region_line": 787 + }, + { + "end_outermost_loop": 792, + "end_region_line": 793, + "line": " with self.pt_lock:\n", + "lineno": 790, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 790, + "start_region_line": 787 + }, + { + "end_outermost_loop": 792, + "end_region_line": 793, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 791, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 791, + "start_region_line": 787 + }, + { + "end_outermost_loop": 792, + "end_region_line": 793, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_D_GAIN, int(x))\n", + "lineno": 792, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 792, + "start_region_line": 787 + }, + { + "end_outermost_loop": 793, + "end_region_line": 793, + "line": " self.handle_comm_result('XL430_ADDR_POS_D_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 793, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 793, + "start_region_line": 787 + }, + { + "end_outermost_loop": 794, + "end_region_line": 1035, + "line": "\n", + "lineno": 794, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 794, + "start_region_line": 137 + }, + { + "end_outermost_loop": 802, + "end_region_line": 802, + "line": " def get_I_gain(self):\n", + "lineno": 795, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 795, + "start_region_line": 795 + }, + { + "end_outermost_loop": 797, + "end_region_line": 802, + "line": " if not self.hw_valid:\n", + "lineno": 796, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 796, + "start_region_line": 795 + }, + { + "end_outermost_loop": 797, + "end_region_line": 802, + "line": " return 0\n", + "lineno": 797, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 797, + "start_region_line": 795 + }, + { + "end_outermost_loop": 800, + "end_region_line": 802, + "line": " with self.pt_lock:\n", + "lineno": 798, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 798, + "start_region_line": 795 + }, + { + "end_outermost_loop": 800, + "end_region_line": 802, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 799, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 799, + "start_region_line": 795 + }, + { + "end_outermost_loop": 800, + "end_region_line": 802, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_I_GAIN)\n", + "lineno": 800, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 800, + "start_region_line": 795 + }, + { + "end_outermost_loop": 801, + "end_region_line": 802, + "line": " self.handle_comm_result('XL430_ADDR_POS_I_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 801, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 801, + "start_region_line": 795 + }, + { + "end_outermost_loop": 802, + "end_region_line": 802, + "line": " return p\n", + "lineno": 802, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 802, + "start_region_line": 795 + }, + { + "end_outermost_loop": 803, + "end_region_line": 1035, + "line": "\n", + "lineno": 803, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 803, + "start_region_line": 137 + }, + { + "end_outermost_loop": 810, + "end_region_line": 810, + "line": " def set_I_gain(self,x):\n", + "lineno": 804, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 804, + "start_region_line": 804 + }, + { + "end_outermost_loop": 806, + "end_region_line": 810, + "line": " if not self.hw_valid:\n", + "lineno": 805, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 805, + "start_region_line": 804 + }, + { + "end_outermost_loop": 806, + "end_region_line": 810, + "line": " return\n", + "lineno": 806, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 806, + "start_region_line": 804 + }, + { + "end_outermost_loop": 809, + "end_region_line": 810, + "line": " with self.pt_lock:\n", + "lineno": 807, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 807, + "start_region_line": 804 + }, + { + "end_outermost_loop": 809, + "end_region_line": 810, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 808, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 808, + "start_region_line": 804 + }, + { + "end_outermost_loop": 809, + "end_region_line": 810, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_I_GAIN, int(x))\n", + "lineno": 809, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 27.287861693500293, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 809, + "start_region_line": 804 + }, + { + "end_outermost_loop": 810, + "end_region_line": 810, + "line": " self.handle_comm_result('XL430_ADDR_POS_I_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 810, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 810, + "start_region_line": 804 + }, + { + "end_outermost_loop": 811, + "end_region_line": 1035, + "line": "\n", + "lineno": 811, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 811, + "start_region_line": 137 + }, + { + "end_outermost_loop": 819, + "end_region_line": 819, + "line": " def get_vel_I_gain(self):\n", + "lineno": 812, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 812, + "start_region_line": 812 + }, + { + "end_outermost_loop": 814, + "end_region_line": 819, + "line": " if not self.hw_valid:\n", + "lineno": 813, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 813, + "start_region_line": 812 + }, + { + "end_outermost_loop": 814, + "end_region_line": 819, + "line": " return 0\n", + "lineno": 814, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 814, + "start_region_line": 812 + }, + { + "end_outermost_loop": 817, + "end_region_line": 819, + "line": " with self.pt_lock:\n", + "lineno": 815, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 815, + "start_region_line": 812 + }, + { + "end_outermost_loop": 817, + "end_region_line": 819, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 816, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 816, + "start_region_line": 812 + }, + { + "end_outermost_loop": 817, + "end_region_line": 819, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_I_GAIN)\n", + "lineno": 817, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 817, + "start_region_line": 812 + }, + { + "end_outermost_loop": 818, + "end_region_line": 819, + "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_I_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 818, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 818, + "start_region_line": 812 + }, + { + "end_outermost_loop": 819, + "end_region_line": 819, + "line": " return p\n", + "lineno": 819, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 819, + "start_region_line": 812 + }, + { + "end_outermost_loop": 820, + "end_region_line": 1035, + "line": "\n", + "lineno": 820, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 820, + "start_region_line": 137 + }, + { + "end_outermost_loop": 827, + "end_region_line": 827, + "line": " def set_vel_I_gain(self,x):\n", + "lineno": 821, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 821, + "start_region_line": 821 + }, + { + "end_outermost_loop": 823, + "end_region_line": 827, + "line": " if not self.hw_valid:\n", + "lineno": 822, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 822, + "start_region_line": 821 + }, + { + "end_outermost_loop": 823, + "end_region_line": 827, + "line": " return\n", + "lineno": 823, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 823, + "start_region_line": 821 + }, + { + "end_outermost_loop": 826, + "end_region_line": 827, + "line": " with self.pt_lock:\n", + "lineno": 824, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 824, + "start_region_line": 821 + }, + { + "end_outermost_loop": 826, + "end_region_line": 827, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 825, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 825, + "start_region_line": 821 + }, + { + "end_outermost_loop": 826, + "end_region_line": 827, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_I_GAIN, int(x))\n", + "lineno": 826, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 826, + "start_region_line": 821 + }, + { + "end_outermost_loop": 827, + "end_region_line": 827, + "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_I_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 827, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 827, + "start_region_line": 821 + }, + { + "end_outermost_loop": 828, + "end_region_line": 1035, + "line": "\n", + "lineno": 828, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 828, + "start_region_line": 137 + }, + { + "end_outermost_loop": 836, + "end_region_line": 836, + "line": " def get_vel_P_gain(self):\n", + "lineno": 829, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 829, + "start_region_line": 829 + }, + { + "end_outermost_loop": 831, + "end_region_line": 836, + "line": " if not self.hw_valid:\n", + "lineno": 830, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 830, + "start_region_line": 829 + }, + { + "end_outermost_loop": 831, + "end_region_line": 836, + "line": " return 0\n", + "lineno": 831, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 831, + "start_region_line": 829 + }, + { + "end_outermost_loop": 834, + "end_region_line": 836, + "line": " with self.pt_lock:\n", + "lineno": 832, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 832, + "start_region_line": 829 + }, + { + "end_outermost_loop": 834, + "end_region_line": 836, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 833, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 833, + "start_region_line": 829 + }, + { + "end_outermost_loop": 834, + "end_region_line": 836, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_P_GAIN)\n", + "lineno": 834, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 834, + "start_region_line": 829 + }, + { + "end_outermost_loop": 835, + "end_region_line": 836, + "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_P_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 835, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 835, + "start_region_line": 829 + }, + { + "end_outermost_loop": 836, + "end_region_line": 836, + "line": " return p\n", + "lineno": 836, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 836, + "start_region_line": 829 + }, + { + "end_outermost_loop": 837, + "end_region_line": 1035, + "line": "\n", + "lineno": 837, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 837, + "start_region_line": 137 + }, + { + "end_outermost_loop": 844, + "end_region_line": 844, + "line": " def set_vel_P_gain(self,x):\n", + "lineno": 838, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 838, + "start_region_line": 838 + }, + { + "end_outermost_loop": 840, + "end_region_line": 844, + "line": " if not self.hw_valid:\n", + "lineno": 839, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 839, + "start_region_line": 838 + }, + { + "end_outermost_loop": 840, + "end_region_line": 844, + "line": " return\n", + "lineno": 840, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 840, + "start_region_line": 838 + }, + { + "end_outermost_loop": 843, + "end_region_line": 844, + "line": " with self.pt_lock:\n", + "lineno": 841, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 841, + "start_region_line": 838 + }, + { + "end_outermost_loop": 843, + "end_region_line": 844, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 842, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 842, + "start_region_line": 838 + }, + { + "end_outermost_loop": 843, + "end_region_line": 844, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_P_GAIN, int(x))\n", + "lineno": 843, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 843, + "start_region_line": 838 + }, + { + "end_outermost_loop": 844, + "end_region_line": 844, + "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_P_GAIN', dxl_comm_result, dxl_error)\n", + "lineno": 844, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 844, + "start_region_line": 838 + }, + { + "end_outermost_loop": 845, + "end_region_line": 1035, + "line": " \n", + "lineno": 845, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 845, + "start_region_line": 137 + }, + { + "end_outermost_loop": 853, + "end_region_line": 853, + "line": " def get_temperature_limit(self):\n", + "lineno": 846, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 846, + "start_region_line": 846 + }, + { + "end_outermost_loop": 848, + "end_region_line": 853, + "line": " if not self.hw_valid:\n", + "lineno": 847, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 847, + "start_region_line": 846 + }, + { + "end_outermost_loop": 848, + "end_region_line": 853, + "line": " return 0\n", + "lineno": 848, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 848, + "start_region_line": 846 + }, + { + "end_outermost_loop": 851, + "end_region_line": 853, + "line": " with self.pt_lock:\n", + "lineno": 849, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 849, + "start_region_line": 846 + }, + { + "end_outermost_loop": 851, + "end_region_line": 853, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 850, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 850, + "start_region_line": 846 + }, + { + "end_outermost_loop": 851, + "end_region_line": 853, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TEMPERATURE_LIMIT)\n", + "lineno": 851, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 851, + "start_region_line": 846 + }, + { + "end_outermost_loop": 852, + "end_region_line": 853, + "line": " self.handle_comm_result('XL430_ADDR_TEMPERATURE_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 852, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 852, + "start_region_line": 846 + }, + { + "end_outermost_loop": 853, + "end_region_line": 853, + "line": " return p\n", + "lineno": 853, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 853, + "start_region_line": 846 + }, + { + "end_outermost_loop": 854, + "end_region_line": 1035, + "line": "\n", + "lineno": 854, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 854, + "start_region_line": 137 + }, + { + "end_outermost_loop": 861, + "end_region_line": 861, + "line": " def set_temperature_limit(self,x):\n", + "lineno": 855, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 855, + "start_region_line": 855 + }, + { + "end_outermost_loop": 857, + "end_region_line": 861, + "line": " if not self.hw_valid:\n", + "lineno": 856, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 856, + "start_region_line": 855 + }, + { + "end_outermost_loop": 857, + "end_region_line": 861, + "line": " return\n", + "lineno": 857, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 857, + "start_region_line": 855 + }, + { + "end_outermost_loop": 860, + "end_region_line": 861, + "line": " with self.pt_lock:\n", + "lineno": 858, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 858, + "start_region_line": 855 + }, + { + "end_outermost_loop": 860, + "end_region_line": 861, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 859, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 859, + "start_region_line": 855 + }, + { + "end_outermost_loop": 860, + "end_region_line": 861, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TEMPERATURE_LIMIT, int(x))\n", + "lineno": 860, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 860, + "start_region_line": 855 + }, + { + "end_outermost_loop": 861, + "end_region_line": 861, + "line": " self.handle_comm_result('XL430_ADDR_TEMPERATURE_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 861, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 861, + "start_region_line": 855 + }, + { + "end_outermost_loop": 862, + "end_region_line": 1035, + "line": "\n", + "lineno": 862, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 862, + "start_region_line": 137 + }, + { + "end_outermost_loop": 870, + "end_region_line": 870, + "line": " def get_max_voltage_limit(self):\n", + "lineno": 863, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 863, + "start_region_line": 863 + }, + { + "end_outermost_loop": 865, + "end_region_line": 870, + "line": " if not self.hw_valid:\n", + "lineno": 864, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 864, + "start_region_line": 863 + }, + { + "end_outermost_loop": 865, + "end_region_line": 870, + "line": " return 0\n", + "lineno": 865, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 865, + "start_region_line": 863 + }, + { + "end_outermost_loop": 868, + "end_region_line": 870, + "line": " with self.pt_lock:\n", + "lineno": 866, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 866, + "start_region_line": 863 + }, + { + "end_outermost_loop": 868, + "end_region_line": 870, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 867, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 867, + "start_region_line": 863 + }, + { + "end_outermost_loop": 868, + "end_region_line": 870, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_VOLTAGE_LIMIT)\n", + "lineno": 868, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 868, + "start_region_line": 863 + }, + { + "end_outermost_loop": 869, + "end_region_line": 870, + "line": " self.handle_comm_result('XL430_ADDR_MAX_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 869, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 869, + "start_region_line": 863 + }, + { + "end_outermost_loop": 870, + "end_region_line": 870, + "line": " return p\n", + "lineno": 870, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 870, + "start_region_line": 863 + }, + { + "end_outermost_loop": 871, + "end_region_line": 1035, + "line": "\n", + "lineno": 871, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 871, + "start_region_line": 137 + }, + { + "end_outermost_loop": 878, + "end_region_line": 878, + "line": " def set_max_voltage_limit(self,x):\n", + "lineno": 872, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 872, + "start_region_line": 872 + }, + { + "end_outermost_loop": 874, + "end_region_line": 878, + "line": " if not self.hw_valid:\n", + "lineno": 873, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 873, + "start_region_line": 872 + }, + { + "end_outermost_loop": 874, + "end_region_line": 878, + "line": " return\n", + "lineno": 874, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 874, + "start_region_line": 872 + }, + { + "end_outermost_loop": 877, + "end_region_line": 878, + "line": " with self.pt_lock:\n", + "lineno": 875, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 875, + "start_region_line": 872 + }, + { + "end_outermost_loop": 877, + "end_region_line": 878, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 876, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 876, + "start_region_line": 872 + }, + { + "end_outermost_loop": 877, + "end_region_line": 878, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_VOLTAGE_LIMIT, int(x))\n", + "lineno": 877, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 877, + "start_region_line": 872 + }, + { + "end_outermost_loop": 878, + "end_region_line": 878, + "line": " self.handle_comm_result('XL430_ADDR_MAX_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 878, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 878, + "start_region_line": 872 + }, + { + "end_outermost_loop": 879, + "end_region_line": 1035, + "line": "\n", + "lineno": 879, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 879, + "start_region_line": 137 + }, + { + "end_outermost_loop": 887, + "end_region_line": 887, + "line": " def get_min_voltage_limit(self):\n", + "lineno": 880, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 880, + "start_region_line": 880 + }, + { + "end_outermost_loop": 882, + "end_region_line": 887, + "line": " if not self.hw_valid:\n", + "lineno": 881, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 881, + "start_region_line": 880 + }, + { + "end_outermost_loop": 882, + "end_region_line": 887, + "line": " return 0\n", + "lineno": 882, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 882, + "start_region_line": 880 + }, + { + "end_outermost_loop": 885, + "end_region_line": 887, + "line": " with self.pt_lock:\n", + "lineno": 883, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 883, + "start_region_line": 880 + }, + { + "end_outermost_loop": 885, + "end_region_line": 887, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 884, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 884, + "start_region_line": 880 + }, + { + "end_outermost_loop": 885, + "end_region_line": 887, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_VOLTAGE_LIMIT)\n", + "lineno": 885, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 885, + "start_region_line": 880 + }, + { + "end_outermost_loop": 886, + "end_region_line": 887, + "line": " self.handle_comm_result('XL430_ADDR_MIN_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 886, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 886, + "start_region_line": 880 + }, + { + "end_outermost_loop": 887, + "end_region_line": 887, + "line": " return p\n", + "lineno": 887, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 887, + "start_region_line": 880 + }, + { + "end_outermost_loop": 888, + "end_region_line": 1035, + "line": "\n", + "lineno": 888, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 888, + "start_region_line": 137 + }, + { + "end_outermost_loop": 895, + "end_region_line": 895, + "line": " def set_min_voltage_limit(self,x):\n", + "lineno": 889, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 889, + "start_region_line": 889 + }, + { + "end_outermost_loop": 891, + "end_region_line": 895, + "line": " if not self.hw_valid:\n", + "lineno": 890, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 890, + "start_region_line": 889 + }, + { + "end_outermost_loop": 891, + "end_region_line": 895, + "line": " return\n", + "lineno": 891, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 891, + "start_region_line": 889 + }, + { + "end_outermost_loop": 894, + "end_region_line": 895, + "line": " with self.pt_lock:\n", + "lineno": 892, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 892, + "start_region_line": 889 + }, + { + "end_outermost_loop": 894, + "end_region_line": 895, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 893, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 893, + "start_region_line": 889 + }, + { + "end_outermost_loop": 894, + "end_region_line": 895, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_VOLTAGE_LIMIT, int(x))\n", + "lineno": 894, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 894, + "start_region_line": 889 + }, + { + "end_outermost_loop": 895, + "end_region_line": 895, + "line": " self.handle_comm_result('XL430_ADDR_MIN_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 895, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 895, + "start_region_line": 889 + }, + { + "end_outermost_loop": 896, + "end_region_line": 1035, + "line": "\n", + "lineno": 896, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 896, + "start_region_line": 137 + }, + { + "end_outermost_loop": 904, + "end_region_line": 904, + "line": " def get_vel_limit(self):\n", + "lineno": 897, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 897, + "start_region_line": 897 + }, + { + "end_outermost_loop": 899, + "end_region_line": 904, + "line": " if not self.hw_valid:\n", + "lineno": 898, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 898, + "start_region_line": 897 + }, + { + "end_outermost_loop": 899, + "end_region_line": 904, + "line": " return 0\n", + "lineno": 899, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 899, + "start_region_line": 897 + }, + { + "end_outermost_loop": 902, + "end_region_line": 904, + "line": " with self.pt_lock:\n", + "lineno": 900, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 900, + "start_region_line": 897 + }, + { + "end_outermost_loop": 902, + "end_region_line": 904, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 901, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 901, + "start_region_line": 897 + }, + { + "end_outermost_loop": 902, + "end_region_line": 904, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_LIMIT)\n", + "lineno": 902, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 902, + "start_region_line": 897 + }, + { + "end_outermost_loop": 903, + "end_region_line": 904, + "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 903, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 903, + "start_region_line": 897 + }, + { + "end_outermost_loop": 904, + "end_region_line": 904, + "line": " return p\n", + "lineno": 904, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 904, + "start_region_line": 897 + }, + { + "end_outermost_loop": 905, + "end_region_line": 1035, + "line": "\n", + "lineno": 905, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 905, + "start_region_line": 137 + }, + { + "end_outermost_loop": 912, + "end_region_line": 912, + "line": " def set_vel_limit(self,x):\n", + "lineno": 906, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 906, + "start_region_line": 906 + }, + { + "end_outermost_loop": 908, + "end_region_line": 912, + "line": " if not self.hw_valid:\n", + "lineno": 907, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 907, + "start_region_line": 906 + }, + { + "end_outermost_loop": 908, + "end_region_line": 912, + "line": " return\n", + "lineno": 908, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 908, + "start_region_line": 906 + }, + { + "end_outermost_loop": 911, + "end_region_line": 912, + "line": " with self.pt_lock:\n", + "lineno": 909, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 909, + "start_region_line": 906 + }, + { + "end_outermost_loop": 911, + "end_region_line": 912, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 910, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 910, + "start_region_line": 906 + }, + { + "end_outermost_loop": 911, + "end_region_line": 912, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_LIMIT, int(x))\n", + "lineno": 911, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 911, + "start_region_line": 906 + }, + { + "end_outermost_loop": 912, + "end_region_line": 912, + "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 912, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 912, + "start_region_line": 906 + }, + { + "end_outermost_loop": 913, + "end_region_line": 1035, + "line": "\n", + "lineno": 913, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 913, + "start_region_line": 137 + }, + { + "end_outermost_loop": 921, + "end_region_line": 921, + "line": " def get_max_pos_limit(self):\n", + "lineno": 914, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 914, + "start_region_line": 914 + }, + { + "end_outermost_loop": 916, + "end_region_line": 921, + "line": " if not self.hw_valid:\n", + "lineno": 915, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 915, + "start_region_line": 914 + }, + { + "end_outermost_loop": 916, + "end_region_line": 921, + "line": " return 0\n", + "lineno": 916, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 916, + "start_region_line": 914 + }, + { + "end_outermost_loop": 919, + "end_region_line": 921, + "line": " with self.pt_lock:\n", + "lineno": 917, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 917, + "start_region_line": 914 + }, + { + "end_outermost_loop": 919, + "end_region_line": 921, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 918, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 918, + "start_region_line": 914 + }, + { + "end_outermost_loop": 919, + "end_region_line": 921, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_POS_LIMIT)\n", + "lineno": 919, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 919, + "start_region_line": 914 + }, + { + "end_outermost_loop": 920, + "end_region_line": 921, + "line": " self.handle_comm_result('XL430_ADDR_MAX_POS_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 920, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 920, + "start_region_line": 914 + }, + { + "end_outermost_loop": 921, + "end_region_line": 921, + "line": " return p\n", + "lineno": 921, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 921, + "start_region_line": 914 + }, + { + "end_outermost_loop": 922, + "end_region_line": 1035, + "line": "\n", + "lineno": 922, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 922, + "start_region_line": 137 + }, + { + "end_outermost_loop": 929, + "end_region_line": 929, + "line": " def set_max_pos_limit(self,x):\n", + "lineno": 923, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 923, + "start_region_line": 923 + }, + { + "end_outermost_loop": 925, + "end_region_line": 929, + "line": " if not self.hw_valid:\n", + "lineno": 924, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 924, + "start_region_line": 923 + }, + { + "end_outermost_loop": 925, + "end_region_line": 929, + "line": " return\n", + "lineno": 925, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 925, + "start_region_line": 923 + }, + { + "end_outermost_loop": 928, + "end_region_line": 929, + "line": " with self.pt_lock:\n", + "lineno": 926, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 926, + "start_region_line": 923 + }, + { + "end_outermost_loop": 928, + "end_region_line": 929, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 927, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 927, + "start_region_line": 923 + }, + { + "end_outermost_loop": 928, + "end_region_line": 929, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_POS_LIMIT, int(x))\n", + "lineno": 928, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 928, + "start_region_line": 923 + }, + { + "end_outermost_loop": 929, + "end_region_line": 929, + "line": " self.handle_comm_result('XL430_ADDR_MAX_POS_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 929, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 929, + "start_region_line": 923 + }, + { + "end_outermost_loop": 930, + "end_region_line": 1035, + "line": "\n", + "lineno": 930, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 930, + "start_region_line": 137 + }, + { + "end_outermost_loop": 937, + "end_region_line": 937, + "line": " def set_min_pos_limit(self,x):\n", + "lineno": 931, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 931, + "start_region_line": 931 + }, + { + "end_outermost_loop": 933, + "end_region_line": 937, + "line": " if not self.hw_valid:\n", + "lineno": 932, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 932, + "start_region_line": 931 + }, + { + "end_outermost_loop": 933, + "end_region_line": 937, + "line": " return\n", + "lineno": 933, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 933, + "start_region_line": 931 + }, + { + "end_outermost_loop": 936, + "end_region_line": 937, + "line": " with self.pt_lock:\n", + "lineno": 934, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 934, + "start_region_line": 931 + }, + { + "end_outermost_loop": 936, + "end_region_line": 937, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 935, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 935, + "start_region_line": 931 + }, + { + "end_outermost_loop": 936, + "end_region_line": 937, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_POS_LIMIT, int(x))\n", + "lineno": 936, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 936, + "start_region_line": 931 + }, + { + "end_outermost_loop": 937, + "end_region_line": 937, + "line": " self.handle_comm_result('XL430_ADDR_MIN_POS_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 937, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 937, + "start_region_line": 931 + }, + { + "end_outermost_loop": 938, + "end_region_line": 1035, + "line": "\n", + "lineno": 938, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 938, + "start_region_line": 137 + }, + { + "end_outermost_loop": 946, + "end_region_line": 946, + "line": " def get_min_pos_limit(self):\n", + "lineno": 939, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 939, + "start_region_line": 939 + }, + { + "end_outermost_loop": 941, + "end_region_line": 946, + "line": " if not self.hw_valid:\n", + "lineno": 940, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 940, + "start_region_line": 939 + }, + { + "end_outermost_loop": 941, + "end_region_line": 946, + "line": " return 0\n", + "lineno": 941, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 941, + "start_region_line": 939 + }, + { + "end_outermost_loop": 944, + "end_region_line": 946, + "line": " with self.pt_lock:\n", + "lineno": 942, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 942, + "start_region_line": 939 + }, + { + "end_outermost_loop": 944, + "end_region_line": 946, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 943, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 943, + "start_region_line": 939 + }, + { + "end_outermost_loop": 944, + "end_region_line": 946, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_POS_LIMIT)\n", + "lineno": 944, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 944, + "start_region_line": 939 + }, + { + "end_outermost_loop": 945, + "end_region_line": 946, + "line": " self.handle_comm_result('XL430_ADDR_MIN_POS_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 945, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 945, + "start_region_line": 939 + }, + { + "end_outermost_loop": 946, + "end_region_line": 946, + "line": " return p\n", + "lineno": 946, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 946, + "start_region_line": 939 + }, + { + "end_outermost_loop": 947, + "end_region_line": 1035, + "line": "\n", + "lineno": 947, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 947, + "start_region_line": 137 + }, + { + "end_outermost_loop": 955, + "end_region_line": 955, + "line": " def get_temp(self):\n", + "lineno": 948, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 948, + "start_region_line": 948 + }, + { + "end_outermost_loop": 950, + "end_region_line": 955, + "line": " if not self.hw_valid:\n", + "lineno": 949, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 949, + "start_region_line": 948 + }, + { + "end_outermost_loop": 950, + "end_region_line": 955, + "line": " return 0\n", + "lineno": 950, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 950, + "start_region_line": 948 + }, + { + "end_outermost_loop": 953, + "end_region_line": 955, + "line": " with self.pt_lock:\n", + "lineno": 951, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 951, + "start_region_line": 948 + }, + { + "end_outermost_loop": 953, + "end_region_line": 955, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 952, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 952, + "start_region_line": 948 + }, + { + "end_outermost_loop": 953, + "end_region_line": 955, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PRESENT_TEMPERATURE)\n", + "lineno": 953, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 35.313443581647, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 953, + "start_region_line": 948 + }, + { + "end_outermost_loop": 954, + "end_region_line": 955, + "line": " self.handle_comm_result('XL430_ADDR_PRESENT_TEMPERATURE', dxl_comm_result, dxl_error)\n", + "lineno": 954, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 954, + "start_region_line": 948 + }, + { + "end_outermost_loop": 955, + "end_region_line": 955, + "line": " return p\n", + "lineno": 955, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 955, + "start_region_line": 948 + }, + { + "end_outermost_loop": 956, + "end_region_line": 1035, + "line": "\n", + "lineno": 956, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 956, + "start_region_line": 137 + }, + { + "end_outermost_loop": 963, + "end_region_line": 963, + "line": " def set_moving_threshold(self,x): #unit of 0.229 rev/min, default 10\n", + "lineno": 957, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 957, + "start_region_line": 957 + }, + { + "end_outermost_loop": 959, + "end_region_line": 963, + "line": " if not self.hw_valid:\n", + "lineno": 958, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 958, + "start_region_line": 957 + }, + { + "end_outermost_loop": 959, + "end_region_line": 963, + "line": " return\n", + "lineno": 959, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 959, + "start_region_line": 957 + }, + { + "end_outermost_loop": 962, + "end_region_line": 963, + "line": " with self.pt_lock:\n", + "lineno": 960, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 960, + "start_region_line": 957 + }, + { + "end_outermost_loop": 962, + "end_region_line": 963, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 961, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 961, + "start_region_line": 957 + }, + { + "end_outermost_loop": 962, + "end_region_line": 963, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MOVING_THRESHOLD, int(x))\n", + "lineno": 962, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 962, + "start_region_line": 957 + }, + { + "end_outermost_loop": 963, + "end_region_line": 963, + "line": " self.handle_comm_result('XL430_ADDR_MOVING_THRESHOLD', dxl_comm_result, dxl_error)\n", + "lineno": 963, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 963, + "start_region_line": 957 + }, + { + "end_outermost_loop": 964, + "end_region_line": 1035, + "line": "\n", + "lineno": 964, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 964, + "start_region_line": 137 + }, + { + "end_outermost_loop": 973, + "end_region_line": 973, + "line": " def get_moving_threshold(self):\n", + "lineno": 965, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 965, + "start_region_line": 965 + }, + { + "end_outermost_loop": 967, + "end_region_line": 973, + "line": " if not self.hw_valid:\n", + "lineno": 966, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 966, + "start_region_line": 965 + }, + { + "end_outermost_loop": 967, + "end_region_line": 973, + "line": " return 0\n", + "lineno": 967, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 967, + "start_region_line": 965 + }, + { + "end_outermost_loop": 971, + "end_region_line": 973, + "line": " with self.pt_lock:\n", + "lineno": 968, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 968, + "start_region_line": 965 + }, + { + "end_outermost_loop": 971, + "end_region_line": 973, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 969, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 969, + "start_region_line": 965 + }, + { + "end_outermost_loop": 970, + "end_region_line": 973, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id,\n", + "lineno": 970, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 970, + "start_region_line": 965 + }, + { + "end_outermost_loop": 971, + "end_region_line": 973, + "line": " XL430_ADDR_MOVING_THRESHOLD)\n", + "lineno": 971, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 971, + "start_region_line": 965 + }, + { + "end_outermost_loop": 972, + "end_region_line": 973, + "line": " self.handle_comm_result('XL430_ADDR_MOVING_THRESHOLD', dxl_comm_result, dxl_error)\n", + "lineno": 972, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 972, + "start_region_line": 965 + }, + { + "end_outermost_loop": 973, + "end_region_line": 973, + "line": " return p\n", + "lineno": 973, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 973, + "start_region_line": 965 + }, + { + "end_outermost_loop": 974, + "end_region_line": 1035, + "line": "\n", + "lineno": 974, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 974, + "start_region_line": 137 + }, + { + "end_outermost_loop": 981, + "end_region_line": 981, + "line": " def set_pwm_limit(self,x): #0(0%) ~ 885(100%\n", + "lineno": 975, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 975, + "start_region_line": 975 + }, + { + "end_outermost_loop": 977, + "end_region_line": 981, + "line": " if not self.hw_valid:\n", + "lineno": 976, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 976, + "start_region_line": 975 + }, + { + "end_outermost_loop": 977, + "end_region_line": 981, + "line": " return\n", + "lineno": 977, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 977, + "start_region_line": 975 + }, + { + "end_outermost_loop": 980, + "end_region_line": 981, + "line": " with self.pt_lock:\n", + "lineno": 978, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 978, + "start_region_line": 975 + }, + { + "end_outermost_loop": 980, + "end_region_line": 981, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 979, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 979, + "start_region_line": 975 + }, + { + "end_outermost_loop": 980, + "end_region_line": 981, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PWM_LIMIT, int(x))\n", + "lineno": 980, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 980, + "start_region_line": 975 + }, + { + "end_outermost_loop": 981, + "end_region_line": 981, + "line": " self.handle_comm_result('XL430_ADDR_PWM_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 981, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 981, + "start_region_line": 975 + }, + { + "end_outermost_loop": 982, + "end_region_line": 1035, + "line": "\n", + "lineno": 982, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 982, + "start_region_line": 137 + }, + { + "end_outermost_loop": 990, + "end_region_line": 990, + "line": " def get_pwm_limit(self):\n", + "lineno": 983, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 983, + "start_region_line": 983 + }, + { + "end_outermost_loop": 985, + "end_region_line": 990, + "line": " if not self.hw_valid:\n", + "lineno": 984, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 984, + "start_region_line": 983 + }, + { + "end_outermost_loop": 985, + "end_region_line": 990, + "line": " return 0\n", + "lineno": 985, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 985, + "start_region_line": 983 + }, + { + "end_outermost_loop": 988, + "end_region_line": 990, + "line": " with self.pt_lock:\n", + "lineno": 986, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 986, + "start_region_line": 983 + }, + { + "end_outermost_loop": 988, + "end_region_line": 990, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 987, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 987, + "start_region_line": 983 + }, + { + "end_outermost_loop": 988, + "end_region_line": 990, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PWM_LIMIT)\n", + "lineno": 988, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 988, + "start_region_line": 983 + }, + { + "end_outermost_loop": 989, + "end_region_line": 990, + "line": " self.handle_comm_result('XL430_ADDR_PWM_LIMIT', dxl_comm_result, dxl_error)\n", + "lineno": 989, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 989, + "start_region_line": 983 + }, + { + "end_outermost_loop": 990, + "end_region_line": 990, + "line": " return p\n", + "lineno": 990, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 990, + "start_region_line": 983 + }, + { + "end_outermost_loop": 991, + "end_region_line": 1035, + "line": "\n", + "lineno": 991, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 991, + "start_region_line": 137 + }, + { + "end_outermost_loop": 999, + "end_region_line": 999, + "line": " def is_moving(self):\n", + "lineno": 992, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 992, + "start_region_line": 992 + }, + { + "end_outermost_loop": 994, + "end_region_line": 999, + "line": " if not self.hw_valid:\n", + "lineno": 993, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 993, + "start_region_line": 992 + }, + { + "end_outermost_loop": 994, + "end_region_line": 999, + "line": " return 0\n", + "lineno": 994, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 994, + "start_region_line": 992 + }, + { + "end_outermost_loop": 997, + "end_region_line": 999, + "line": " with self.pt_lock:\n", + "lineno": 995, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 995, + "start_region_line": 992 + }, + { + "end_outermost_loop": 997, + "end_region_line": 999, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 996, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 996, + "start_region_line": 992 + }, + { + "end_outermost_loop": 997, + "end_region_line": 999, + "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MOVING)\n", + "lineno": 997, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 997, + "start_region_line": 992 + }, + { + "end_outermost_loop": 998, + "end_region_line": 999, + "line": " self.handle_comm_result('XL430_ADDR_MOVING', dxl_comm_result, dxl_error)\n", + "lineno": 998, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 998, + "start_region_line": 992 + }, + { + "end_outermost_loop": 999, + "end_region_line": 999, + "line": " return p\n", + "lineno": 999, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 999, + "start_region_line": 992 + }, + { + "end_outermost_loop": 1000, + "end_region_line": 1035, + "line": "\n", + "lineno": 1000, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1000, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1018, + "end_region_line": 1018, + "line": " def zero_position(self,verbose=False):\n", + "lineno": 1001, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1001, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1003, + "end_region_line": 1018, + "line": " if not self.hw_valid:\n", + "lineno": 1002, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1002, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1003, + "end_region_line": 1018, + "line": " return\n", + "lineno": 1003, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1003, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1004, + "end_region_line": 1018, + "line": " self.logger.debug('Previous HOMING_OFFSET in EEPROM {0}'.format(self.get_homing_offset()))\n", + "lineno": 1004, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1004, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1006, + "end_region_line": 1018, + "line": " if verbose:\n", + "lineno": 1005, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1005, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1006, + "end_region_line": 1018, + "line": " print('Previous HOMING_OFFSET in EEPROM', self.get_homing_offset())\n", + "lineno": 1006, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1006, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1007, + "end_region_line": 1018, + "line": " self.set_homing_offset(0)\n", + "lineno": 1007, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1007, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1008, + "end_region_line": 1018, + "line": " h=-1*self.get_pos()\n", + "lineno": 1008, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1008, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1009, + "end_region_line": 1018, + "line": " self.logger.debug('Setting homing offset to {0}'.format(h))\n", + "lineno": 1009, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1009, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1011, + "end_region_line": 1018, + "line": " if verbose:\n", + "lineno": 1010, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1010, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1011, + "end_region_line": 1018, + "line": " print('Setting homing offset to',h)\n", + "lineno": 1011, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1011, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1012, + "end_region_line": 1018, + "line": " self.set_homing_offset(h)\n", + "lineno": 1012, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1012, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1013, + "end_region_line": 1018, + "line": " self.logger.debug('New HOMING_OFFSET in EEPROM {0}'.format(self.get_homing_offset()))\n", + "lineno": 1013, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1013, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1014, + "end_region_line": 1018, + "line": " self.logger.debug('Current position after homing {0}'.format(self.get_pos()))\n", + "lineno": 1014, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1014, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1017, + "end_region_line": 1018, + "line": " if verbose:\n", + "lineno": 1015, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1015, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1016, + "end_region_line": 1018, + "line": " print('New HOMING_OFFSET in EEPROM', self.get_homing_offset())\n", + "lineno": 1016, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1016, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1017, + "end_region_line": 1018, + "line": " print('Current position after homing',self.get_pos())\n", + "lineno": 1017, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1017, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1018, + "end_region_line": 1018, + "line": " return\n", + "lineno": 1018, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1018, + "start_region_line": 1001 + }, + { + "end_outermost_loop": 1019, + "end_region_line": 1035, + "line": "\n", + "lineno": 1019, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1019, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1027, + "end_region_line": 1027, + "line": " def get_homing_offset(self):\n", + "lineno": 1020, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1020, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1022, + "end_region_line": 1027, + "line": " if not self.hw_valid:\n", + "lineno": 1021, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1021, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1022, + "end_region_line": 1027, + "line": " return 0\n", + "lineno": 1022, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1022, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1025, + "end_region_line": 1027, + "line": " with self.pt_lock:\n", + "lineno": 1023, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1023, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1025, + "end_region_line": 1027, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 1024, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1024, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1025, + "end_region_line": 1027, + "line": " xn, dxl_comm_result, dxl_error = self.read_int32_t(XL430_ADDR_HOMING_OFFSET)\n", + "lineno": 1025, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1025, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1026, + "end_region_line": 1027, + "line": " self.handle_comm_result('XL430_ADDR_HOMING_OFFSET', dxl_comm_result, dxl_error)\n", + "lineno": 1026, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1026, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1027, + "end_region_line": 1027, + "line": " return xn\n", + "lineno": 1027, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1027, + "start_region_line": 1020 + }, + { + "end_outermost_loop": 1028, + "end_region_line": 1035, + "line": "\n", + "lineno": 1028, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1028, + "start_region_line": 137 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " def set_homing_offset(self,x):\n", + "lineno": 1029, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1029, + "start_region_line": 1029 + }, + { + "end_outermost_loop": 1031, + "end_region_line": 1035, + "line": " if not self.hw_valid:\n", + "lineno": 1030, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1030, + "start_region_line": 1029 + }, + { + "end_outermost_loop": 1031, + "end_region_line": 1035, + "line": " return\n", + "lineno": 1031, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1031, + "start_region_line": 1029 + }, + { + "end_outermost_loop": 1034, + "end_region_line": 1035, + "line": " with self.pt_lock:\n", + "lineno": 1032, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1032, + "start_region_line": 1029 + }, + { + "end_outermost_loop": 1034, + "end_region_line": 1035, + "line": " with DelayedKeyboardInterrupt():\n", + "lineno": 1033, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1033, + "start_region_line": 1029 + }, + { + "end_outermost_loop": 1034, + "end_region_line": 1035, + "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_HOMING_OFFSET, int(x))\n", + "lineno": 1034, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1034, + "start_region_line": 1029 + }, + { + "end_outermost_loop": 1035, + "end_region_line": 1035, + "line": " self.handle_comm_result('XL430_ADDR_HOMING_OFFSET', dxl_comm_result, dxl_error)\n", + "lineno": 1035, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1035, + "start_region_line": 1029 + } + ], + "percent_cpu_time": 0.0 + }, + "/home/hello-robot/repos/stretch_body/body/stretch_body/hello_utils.py": { + "functions": [], + "imports": [ + "from __future__ import print_function", + "import yaml", + "import math", + "import os", + "import time", + "import numpy as np", + "import sys", + "import numbers", + "import subprocess", + "import pyrealsense2 as rs", + "import cv2", + "import matplotlib.pyplot as plt" + ], + "leaks": {}, + "lines": [ + { + "end_outermost_loop": 1, + "end_region_line": 1, + "line": "from __future__ import print_function\n", + "lineno": 1, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1, + "start_region_line": 1 + }, + { + "end_outermost_loop": 2, + "end_region_line": 2, + "line": "import yaml\n", + "lineno": 2, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 2, + "start_region_line": 2 + }, + { + "end_outermost_loop": 3, + "end_region_line": 3, + "line": "import math\n", + "lineno": 3, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 3, + "start_region_line": 3 + }, + { + "end_outermost_loop": 4, + "end_region_line": 4, + "line": "import os\n", + "lineno": 4, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 4, + "start_region_line": 4 + }, + { + "end_outermost_loop": 5, + "end_region_line": 5, + "line": "import time\n", + "lineno": 5, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 5, + "start_region_line": 5 + }, + { + "end_outermost_loop": 6, + "end_region_line": 6, + "line": "import logging\n", + "lineno": 6, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 6, + "start_region_line": 6 + }, + { + "end_outermost_loop": 7, + "end_region_line": 7, + "line": "import numpy as np\n", + "lineno": 7, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 133.60260659274087, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 7, + "start_region_line": 7 + }, + { + "end_outermost_loop": 8, + "end_region_line": 8, + "line": "import sys\n", + "lineno": 8, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 8, + "start_region_line": 8 + }, + { + "end_outermost_loop": 9, + "end_region_line": 9, + "line": "import numbers\n", + "lineno": 9, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 9, + "start_region_line": 9 + }, + { + "end_outermost_loop": 10, + "end_region_line": 10, + "line": "import subprocess\n", + "lineno": 10, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 10, + "start_region_line": 10 + }, + { + "end_outermost_loop": 11, + "end_region_line": 11, + "line": "import pyrealsense2 as rs\n", + "lineno": 11, + "memory_samples": [ + [ + 657391915, + 10.034314155578613 + ] + ], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 10.034314155578613, + "n_malloc_mb": 10.034314155578613, + "n_mallocs": 0, + "n_peak_mb": 10.034314155578613, + "n_python_fraction": 0.9965480000000001, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.20053696514043517, + "start_outermost_loop": 11, + "start_region_line": 11 + }, + { + "end_outermost_loop": 12, + "end_region_line": 12, + "line": "import cv2\n", + "lineno": 12, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 17.629472728812654, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 12, + "start_region_line": 12 + }, + { + "end_outermost_loop": 13, + "end_region_line": 13, + "line": "\n", + "lineno": 13, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 13, + "start_region_line": 13 + }, + { + "end_outermost_loop": 16, + "end_region_line": 16, + "line": "def print_stretch_re_use():\n", + "lineno": 14, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 14, + "start_region_line": 14 + }, + { + "end_outermost_loop": 15, + "end_region_line": 16, + "line": " print(\"For use with S T R E T C H (R) from Hello Robot Inc.\")\n", + "lineno": 15, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 15, + "start_region_line": 14 + }, + { + "end_outermost_loop": 16, + "end_region_line": 16, + "line": " print(\"---------------------------------------------------------------------\\n\")\n", + "lineno": 16, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 16, + "start_region_line": 14 + }, + { + "end_outermost_loop": 17, + "end_region_line": 17, + "line": "\n", + "lineno": 17, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 17, + "start_region_line": 17 + }, + { + "end_outermost_loop": 31, + "end_region_line": 31, + "line": "def create_time_string(time_format='%Y%m%d%H%M%S'):\n", + "lineno": 18, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 18, + "start_region_line": 18 + }, + { + "end_outermost_loop": 19, + "end_region_line": 31, + "line": " \"\"\"Returns current time formatted as `time_format`\n", + "lineno": 19, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 19, + "start_region_line": 18 + }, + { + "end_outermost_loop": 20, + "end_region_line": 31, + "line": "\n", + "lineno": 20, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 20, + "start_region_line": 18 + }, + { + "end_outermost_loop": 21, + "end_region_line": 31, + "line": " Parameters\n", + "lineno": 21, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 21, + "start_region_line": 18 + }, + { + "end_outermost_loop": 22, + "end_region_line": 31, + "line": " ----------\n", + "lineno": 22, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 22, + "start_region_line": 18 + }, + { + "end_outermost_loop": 23, + "end_region_line": 31, + "line": " time_format : str\n", + "lineno": 23, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 23, + "start_region_line": 18 + }, + { + "end_outermost_loop": 24, + "end_region_line": 31, + "line": " Refer https://docs.python.org/3/library/time.html#time.strftime for options\n", + "lineno": 24, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 24, + "start_region_line": 18 + }, + { + "end_outermost_loop": 25, + "end_region_line": 31, + "line": "\n", + "lineno": 25, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 25, + "start_region_line": 18 + }, + { + "end_outermost_loop": 26, + "end_region_line": 31, + "line": " Returns\n", + "lineno": 26, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 26, + "start_region_line": 18 + }, + { + "end_outermost_loop": 27, + "end_region_line": 31, + "line": " -------\n", + "lineno": 27, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 27, + "start_region_line": 18 + }, + { + "end_outermost_loop": 28, + "end_region_line": 31, + "line": " str\n", + "lineno": 28, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 28, + "start_region_line": 18 + }, + { + "end_outermost_loop": 29, + "end_region_line": 31, + "line": " time as string in requested format\n", + "lineno": 29, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 29, + "start_region_line": 18 + }, + { + "end_outermost_loop": 30, + "end_region_line": 31, + "line": " \"\"\"\n", + "lineno": 30, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 30, + "start_region_line": 18 + }, + { + "end_outermost_loop": 31, + "end_region_line": 31, + "line": " return time.strftime(time_format)\n", + "lineno": 31, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 31, + "start_region_line": 18 + }, + { + "end_outermost_loop": 32, + "end_region_line": 32, + "line": "\n", + "lineno": 32, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 32, + "start_region_line": 32 + }, + { + "end_outermost_loop": 34, + "end_region_line": 34, + "line": "def deg_to_rad(x):\n", + "lineno": 33, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 33, + "start_region_line": 33 + }, + { + "end_outermost_loop": 34, + "end_region_line": 34, + "line": " return math.pi*x/180.0\n", + "lineno": 34, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 34, + "start_region_line": 33 + }, + { + "end_outermost_loop": 35, + "end_region_line": 35, + "line": "\n", + "lineno": 35, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 35, + "start_region_line": 35 + }, + { + "end_outermost_loop": 37, + "end_region_line": 37, + "line": "def rad_to_deg(x):\n", + "lineno": 36, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 36, + "start_region_line": 36 + }, + { + "end_outermost_loop": 37, + "end_region_line": 37, + "line": " return 180.0*x/math.pi\n", + "lineno": 37, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 37, + "start_region_line": 36 + }, + { + "end_outermost_loop": 38, + "end_region_line": 38, + "line": "\n", + "lineno": 38, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 38, + "start_region_line": 38 + }, + { + "end_outermost_loop": 43, + "end_region_line": 43, + "line": "def confirm(question):\n", + "lineno": 39, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 39, + "start_region_line": 39 + }, + { + "end_outermost_loop": 40, + "end_region_line": 43, + "line": " reply = None\n", + "lineno": 40, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 40, + "start_region_line": 39 + }, + { + "end_outermost_loop": 42, + "end_region_line": 42, + "line": " while reply not in (\"y\", \"n\"):\n", + "lineno": 41, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 41, + "start_region_line": 41 + }, + { + "end_outermost_loop": 42, + "end_region_line": 42, + "line": " reply = input(question + \" (y/n)\").lower()\n", + "lineno": 42, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 41, + "start_region_line": 41 + }, + { + "end_outermost_loop": 43, + "end_region_line": 43, + "line": " return (reply == \"y\")\n", + "lineno": 43, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 43, + "start_region_line": 39 + }, + { + "end_outermost_loop": 44, + "end_region_line": 44, + "line": "\n", + "lineno": 44, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 45, + "end_region_line": 45, + "line": "\n", + "lineno": 45, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 45, + "start_region_line": 45 + }, + { + "end_outermost_loop": 47, + "end_region_line": 47, + "line": "def get_display():\n", + "lineno": 46, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 46, + "start_region_line": 46 + }, + { + "end_outermost_loop": 47, + "end_region_line": 47, + "line": " return os.environ.get('DISPLAY', None)\n", + "lineno": 47, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 47, + "start_region_line": 46 + }, + { + "end_outermost_loop": 48, + "end_region_line": 48, + "line": "\n", + "lineno": 48, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 48, + "start_region_line": 48 + }, + { + "end_outermost_loop": 50, + "end_region_line": 50, + "line": "def get_fleet_id():\n", + "lineno": 49, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 49, + "start_region_line": 49 + }, + { + "end_outermost_loop": 50, + "end_region_line": 50, + "line": " return os.environ['HELLO_FLEET_ID']\n", + "lineno": 50, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 50, + "start_region_line": 49 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": "\n", + "lineno": 51, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 51, + "start_region_line": 51 + }, + { + "end_outermost_loop": 53, + "end_region_line": 53, + "line": "def set_fleet_id(id):\n", + "lineno": 52, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 52, + "start_region_line": 52 + }, + { + "end_outermost_loop": 53, + "end_region_line": 53, + "line": " os.environ['HELLO_FLEET_ID']=id\n", + "lineno": 53, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 53, + "start_region_line": 52 + }, + { + "end_outermost_loop": 54, + "end_region_line": 54, + "line": "\n", + "lineno": 54, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 54, + "start_region_line": 54 + }, + { + "end_outermost_loop": 56, + "end_region_line": 56, + "line": "def get_fleet_directory():\n", + "lineno": 55, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 55, + "start_region_line": 55 + }, + { + "end_outermost_loop": 56, + "end_region_line": 56, + "line": " return os.environ['HELLO_FLEET_PATH']+'/'+get_fleet_id()+'/'\n", + "lineno": 56, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 56, + "start_region_line": 55 + }, + { + "end_outermost_loop": 57, + "end_region_line": 57, + "line": "\n", + "lineno": 57, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 57, + "start_region_line": 57 + }, + { + "end_outermost_loop": 58, + "end_region_line": 58, + "line": "\n", + "lineno": 58, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 58, + "start_region_line": 58 + }, + { + "end_outermost_loop": 61, + "end_region_line": 61, + "line": "def set_fleet_directory(fleet_path,fleet_id):\n", + "lineno": 59, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 59, + "start_region_line": 59 + }, + { + "end_outermost_loop": 60, + "end_region_line": 61, + "line": " os.environ['HELLO_FLEET_ID'] = fleet_id\n", + "lineno": 60, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 60, + "start_region_line": 59 + }, + { + "end_outermost_loop": 61, + "end_region_line": 61, + "line": " os.environ['HELLO_FLEET_PATH'] = fleet_path\n", + "lineno": 61, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 61, + "start_region_line": 59 + }, + { + "end_outermost_loop": 62, + "end_region_line": 62, + "line": "\n", + "lineno": 62, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 62, + "start_region_line": 62 + }, + { + "end_outermost_loop": 63, + "end_region_line": 63, + "line": "\n", + "lineno": 63, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 63, + "start_region_line": 63 + }, + { + "end_outermost_loop": 79, + "end_region_line": 79, + "line": "def get_stretch_directory(sub_directory=''):\n", + "lineno": 64, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 64, + "start_region_line": 64 + }, + { + "end_outermost_loop": 65, + "end_region_line": 79, + "line": " \"\"\"Returns path to stretch_user dir if HELLO_FLEET_PATH env var exists\n", + "lineno": 65, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 65, + "start_region_line": 64 + }, + { + "end_outermost_loop": 66, + "end_region_line": 79, + "line": "\n", + "lineno": 66, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 66, + "start_region_line": 64 + }, + { + "end_outermost_loop": 67, + "end_region_line": 79, + "line": " Parameters\n", + "lineno": 67, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 67, + "start_region_line": 64 + }, + { + "end_outermost_loop": 68, + "end_region_line": 79, + "line": " ----------\n", + "lineno": 68, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 68, + "start_region_line": 64 + }, + { + "end_outermost_loop": 69, + "end_region_line": 79, + "line": " sub_directory : str\n", + "lineno": 69, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 69, + "start_region_line": 64 + }, + { + "end_outermost_loop": 70, + "end_region_line": 79, + "line": " valid sub_directory within stretch_user/\n", + "lineno": 70, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 70, + "start_region_line": 64 + }, + { + "end_outermost_loop": 71, + "end_region_line": 79, + "line": "\n", + "lineno": 71, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 71, + "start_region_line": 64 + }, + { + "end_outermost_loop": 72, + "end_region_line": 79, + "line": " Returns\n", + "lineno": 72, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 72, + "start_region_line": 64 + }, + { + "end_outermost_loop": 73, + "end_region_line": 79, + "line": " -------\n", + "lineno": 73, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 73, + "start_region_line": 64 + }, + { + "end_outermost_loop": 74, + "end_region_line": 79, + "line": " str\n", + "lineno": 74, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 74, + "start_region_line": 64 + }, + { + "end_outermost_loop": 75, + "end_region_line": 79, + "line": " dirpath to stretch_user/ or dir within it if stretch_user/ exists, else /tmp\n", + "lineno": 75, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 75, + "start_region_line": 64 + }, + { + "end_outermost_loop": 76, + "end_region_line": 79, + "line": " \"\"\"\n", + "lineno": 76, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 76, + "start_region_line": 64 + }, + { + "end_outermost_loop": 77, + "end_region_line": 79, + "line": " base_path = os.environ.get('HELLO_FLEET_PATH', None)\n", + "lineno": 77, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 77, + "start_region_line": 64 + }, + { + "end_outermost_loop": 78, + "end_region_line": 79, + "line": " full_path = base_path + '/' + sub_directory if base_path is not None else '/tmp/'\n", + "lineno": 78, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 78, + "start_region_line": 64 + }, + { + "end_outermost_loop": 79, + "end_region_line": 79, + "line": " return full_path\n", + "lineno": 79, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 79, + "start_region_line": 64 + }, + { + "end_outermost_loop": 80, + "end_region_line": 80, + "line": "\n", + "lineno": 80, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 80, + "start_region_line": 80 + }, + { + "end_outermost_loop": 104, + "end_region_line": 104, + "line": "def read_fleet_yaml(f,fleet_dir=None):\n", + "lineno": 81, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 81, + "start_region_line": 81 + }, + { + "end_outermost_loop": 82, + "end_region_line": 104, + "line": " \"\"\"Reads yaml by filename from fleet directory\n", + "lineno": 82, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 82, + "start_region_line": 81 + }, + { + "end_outermost_loop": 83, + "end_region_line": 104, + "line": "\n", + "lineno": 83, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 83, + "start_region_line": 81 + }, + { + "end_outermost_loop": 84, + "end_region_line": 104, + "line": " Parameters\n", + "lineno": 84, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 84, + "start_region_line": 81 + }, + { + "end_outermost_loop": 85, + "end_region_line": 104, + "line": " ----------\n", + "lineno": 85, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 85, + "start_region_line": 81 + }, + { + "end_outermost_loop": 86, + "end_region_line": 104, + "line": " f : str\n", + "lineno": 86, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 86, + "start_region_line": 81 + }, + { + "end_outermost_loop": 87, + "end_region_line": 104, + "line": " filename of the yaml\n", + "lineno": 87, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 87, + "start_region_line": 81 + }, + { + "end_outermost_loop": 88, + "end_region_line": 104, + "line": "\n", + "lineno": 88, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 88, + "start_region_line": 81 + }, + { + "end_outermost_loop": 89, + "end_region_line": 104, + "line": " Returns\n", + "lineno": 89, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 89, + "start_region_line": 81 + }, + { + "end_outermost_loop": 90, + "end_region_line": 104, + "line": " -------\n", + "lineno": 90, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 90, + "start_region_line": 81 + }, + { + "end_outermost_loop": 91, + "end_region_line": 104, + "line": " dict\n", + "lineno": 91, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 91, + "start_region_line": 81 + }, + { + "end_outermost_loop": 92, + "end_region_line": 104, + "line": " yaml as dictionary if valid file, else empty dict\n", + "lineno": 92, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 92, + "start_region_line": 81 + }, + { + "end_outermost_loop": 93, + "end_region_line": 104, + "line": " \"\"\"\n", + "lineno": 93, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 93, + "start_region_line": 81 + }, + { + "end_outermost_loop": 94, + "end_region_line": 104, + "line": " try:\n", + "lineno": 94, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 94, + "start_region_line": 81 + }, + { + "end_outermost_loop": 99, + "end_region_line": 104, + "line": " if fleet_dir is None:\n", + "lineno": 95, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 95, + "start_region_line": 81 + }, + { + "end_outermost_loop": 96, + "end_region_line": 104, + "line": " fleet_dir=get_fleet_directory()\n", + "lineno": 96, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 96, + "start_region_line": 81 + }, + { + "end_outermost_loop": 99, + "end_region_line": 104, + "line": " else:\n", + "lineno": 97, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 95, + "start_region_line": 81 + }, + { + "end_outermost_loop": 99, + "end_region_line": 104, + "line": " if fleet_dir[-1] != '/':\n", + "lineno": 98, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 98, + "start_region_line": 81 + }, + { + "end_outermost_loop": 99, + "end_region_line": 104, + "line": " fleet_dir = fleet_dir + '/'\n", + "lineno": 99, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 99, + "start_region_line": 81 + }, + { + "end_outermost_loop": 102, + "end_region_line": 104, + "line": " with open(fleet_dir+f, 'r') as s:\n", + "lineno": 100, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 100, + "start_region_line": 81 + }, + { + "end_outermost_loop": 101, + "end_region_line": 104, + "line": " p = yaml.load(s,Loader=yaml.FullLoader)\n", + "lineno": 101, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 101, + "start_region_line": 81 + }, + { + "end_outermost_loop": 102, + "end_region_line": 104, + "line": " return {} if p is None else p\n", + "lineno": 102, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 102, + "start_region_line": 81 + }, + { + "end_outermost_loop": 103, + "end_region_line": 104, + "line": " except IOError:\n", + "lineno": 103, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 103, + "start_region_line": 81 + }, + { + "end_outermost_loop": 104, + "end_region_line": 104, + "line": " return {}\n", + "lineno": 104, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 104, + "start_region_line": 81 + }, + { + "end_outermost_loop": 105, + "end_region_line": 105, + "line": "\n", + "lineno": 105, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 105, + "start_region_line": 105 + }, + { + "end_outermost_loop": 114, + "end_region_line": 114, + "line": "def write_fleet_yaml(fn,rp,fleet_dir=None,header=None):\n", + "lineno": 106, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 106, + "start_region_line": 106 + }, + { + "end_outermost_loop": 108, + "end_region_line": 114, + "line": " if fleet_dir is None:\n", + "lineno": 107, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 107, + "start_region_line": 106 + }, + { + "end_outermost_loop": 108, + "end_region_line": 114, + "line": " fleet_dir = get_fleet_directory()\n", + "lineno": 108, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 108, + "start_region_line": 106 + }, + { + "end_outermost_loop": 110, + "end_region_line": 114, + "line": " if fleet_dir[-1]!='/':\n", + "lineno": 109, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 109, + "start_region_line": 106 + }, + { + "end_outermost_loop": 110, + "end_region_line": 114, + "line": " fleet_dir+='/'\n", + "lineno": 110, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 110, + "start_region_line": 106 + }, + { + "end_outermost_loop": 114, + "end_region_line": 114, + "line": " with open(fleet_dir+fn, 'w') as yaml_file:\n", + "lineno": 111, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 111, + "start_region_line": 106 + }, + { + "end_outermost_loop": 113, + "end_region_line": 114, + "line": " if header is not None:\n", + "lineno": 112, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 112, + "start_region_line": 106 + }, + { + "end_outermost_loop": 113, + "end_region_line": 114, + "line": " yaml_file.write(header)\n", + "lineno": 113, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 113, + "start_region_line": 106 + }, + { + "end_outermost_loop": 114, + "end_region_line": 114, + "line": " yaml.dump(rp, yaml_file, default_flow_style=False)\n", + "lineno": 114, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 114, + "start_region_line": 106 + }, + { + "end_outermost_loop": 115, + "end_region_line": 115, + "line": "\n", + "lineno": 115, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 115, + "start_region_line": 115 + }, + { + "end_outermost_loop": 116, + "end_region_line": 116, + "line": "\n", + "lineno": 116, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 116, + "start_region_line": 116 + }, + { + "end_outermost_loop": 148, + "end_region_line": 148, + "line": "def overwrite_dict(overwritee_dict, overwriter_dict):\n", + "lineno": 117, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 118, + "end_region_line": 148, + "line": " \"\"\"Merge two dictionaries while overwriting common keys and\n", + "lineno": 118, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 118, + "start_region_line": 117 + }, + { + "end_outermost_loop": 119, + "end_region_line": 148, + "line": " report errors when values of the same key differ in Python\n", + "lineno": 119, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 119, + "start_region_line": 117 + }, + { + "end_outermost_loop": 120, + "end_region_line": 148, + "line": " type. The result gets stored in `overwritee_dict`.\n", + "lineno": 120, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 120, + "start_region_line": 117 + }, + { + "end_outermost_loop": 121, + "end_region_line": 148, + "line": "\n", + "lineno": 121, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 121, + "start_region_line": 117 + }, + { + "end_outermost_loop": 122, + "end_region_line": 148, + "line": " Parameters\n", + "lineno": 122, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 122, + "start_region_line": 117 + }, + { + "end_outermost_loop": 123, + "end_region_line": 148, + "line": " ----------\n", + "lineno": 123, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 123, + "start_region_line": 117 + }, + { + "end_outermost_loop": 124, + "end_region_line": 148, + "line": " overwritee_dict : dict\n", + "lineno": 124, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 124, + "start_region_line": 117 + }, + { + "end_outermost_loop": 125, + "end_region_line": 148, + "line": " The dictionary which will be overwritten. Use this as the merged result.\n", + "lineno": 125, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 125, + "start_region_line": 117 + }, + { + "end_outermost_loop": 126, + "end_region_line": 148, + "line": " overwriter_dict : dict\n", + "lineno": 126, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 126, + "start_region_line": 117 + }, + { + "end_outermost_loop": 127, + "end_region_line": 148, + "line": " The dictionary which will overwrite.\n", + "lineno": 127, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 127, + "start_region_line": 117 + }, + { + "end_outermost_loop": 128, + "end_region_line": 148, + "line": "\n", + "lineno": 128, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 128, + "start_region_line": 117 + }, + { + "end_outermost_loop": 129, + "end_region_line": 148, + "line": " Returns\n", + "lineno": 129, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 129, + "start_region_line": 117 + }, + { + "end_outermost_loop": 130, + "end_region_line": 148, + "line": " -------\n", + "lineno": 130, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 130, + "start_region_line": 117 + }, + { + "end_outermost_loop": 131, + "end_region_line": 148, + "line": " bool\n", + "lineno": 131, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 131, + "start_region_line": 117 + }, + { + "end_outermost_loop": 132, + "end_region_line": 148, + "line": " True if no mismatches were found during the overwrite, False otherwise.\n", + "lineno": 132, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 132, + "start_region_line": 117 + }, + { + "end_outermost_loop": 133, + "end_region_line": 148, + "line": " \"\"\"\n", + "lineno": 133, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 133, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 148, + "line": " no_mismatches = True\n", + "lineno": 134, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 134, + "start_region_line": 117 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " for k in overwriter_dict.keys():\n", + "lineno": 135, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " if k in overwritee_dict:\n", + "lineno": 136, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " if (isinstance(overwritee_dict[k], dict) and isinstance(overwriter_dict[k], dict)):\n", + "lineno": 137, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " sub_no_mismatches = overwrite_dict(overwritee_dict[k], overwriter_dict[k])\n", + "lineno": 138, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " no_mismatches = no_mismatches and sub_no_mismatches\n", + "lineno": 139, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " else:\n", + "lineno": 140, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " if (type(overwritee_dict[k]) == type(overwriter_dict[k])) or (isinstance(overwritee_dict[k], numbers.Real) and isinstance(overwriter_dict[k], numbers.Real)):\n", + "lineno": 141, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " overwritee_dict[k] = overwriter_dict[k]\n", + "lineno": 142, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " else:\n", + "lineno": 143, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " no_mismatches = False\n", + "lineno": 144, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " print('stretch_body.hello_utils.overwrite_dict ERROR: Type mismatch for key={0}, between overwritee={1} and overwriter={2}'.format(k, overwritee_dict[k], overwriter_dict[k]), file=sys.stderr)\n", + "lineno": 145, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " else: #If key not present, add anyhow (useful for overlaying params)\n", + "lineno": 146, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": " overwritee_dict[k] = overwriter_dict[k]\n", + "lineno": 147, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 135 + }, + { + "end_outermost_loop": 148, + "end_region_line": 148, + "line": " return no_mismatches\n", + "lineno": 148, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 148, + "start_region_line": 117 + }, + { + "end_outermost_loop": 149, + "end_region_line": 149, + "line": "\n", + "lineno": 149, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 149, + "start_region_line": 149 + }, + { + "end_outermost_loop": 166, + "end_region_line": 166, + "line": "def pretty_print_dict(title, d):\n", + "lineno": 150, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 150, + "start_region_line": 150 + }, + { + "end_outermost_loop": 151, + "end_region_line": 166, + "line": " \"\"\"Print human readable representation of dictionary to terminal\n", + "lineno": 151, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 151, + "start_region_line": 150 + }, + { + "end_outermost_loop": 152, + "end_region_line": 166, + "line": "\n", + "lineno": 152, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 152, + "start_region_line": 150 + }, + { + "end_outermost_loop": 153, + "end_region_line": 166, + "line": " Parameters\n", + "lineno": 153, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 153, + "start_region_line": 150 + }, + { + "end_outermost_loop": 154, + "end_region_line": 166, + "line": " ----------\n", + "lineno": 154, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 154, + "start_region_line": 150 + }, + { + "end_outermost_loop": 155, + "end_region_line": 166, + "line": " title : str\n", + "lineno": 155, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 155, + "start_region_line": 150 + }, + { + "end_outermost_loop": 156, + "end_region_line": 166, + "line": " header title under which the dictionary is printed\n", + "lineno": 156, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 156, + "start_region_line": 150 + }, + { + "end_outermost_loop": 157, + "end_region_line": 166, + "line": " d : dict\n", + "lineno": 157, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 157, + "start_region_line": 150 + }, + { + "end_outermost_loop": 158, + "end_region_line": 166, + "line": " the dictionary to pretty print\n", + "lineno": 158, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 158, + "start_region_line": 150 + }, + { + "end_outermost_loop": 159, + "end_region_line": 166, + "line": " \"\"\"\n", + "lineno": 159, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 159, + "start_region_line": 150 + }, + { + "end_outermost_loop": 160, + "end_region_line": 166, + "line": " print('-------- {0} --------'.format(title))\n", + "lineno": 160, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 160, + "start_region_line": 150 + }, + { + "end_outermost_loop": 163, + "end_region_line": 163, + "line": " for k in d.keys():\n", + "lineno": 161, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 161, + "start_region_line": 161 + }, + { + "end_outermost_loop": 163, + "end_region_line": 163, + "line": " if type(d[k]) != dict:\n", + "lineno": 162, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 161, + "start_region_line": 161 + }, + { + "end_outermost_loop": 163, + "end_region_line": 163, + "line": " print(k, ' : ', d[k])\n", + "lineno": 163, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 161, + "start_region_line": 161 + }, + { + "end_outermost_loop": 166, + "end_region_line": 166, + "line": " for k in d.keys():\n", + "lineno": 164, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 164, + "start_region_line": 164 + }, + { + "end_outermost_loop": 166, + "end_region_line": 166, + "line": " if type(d[k]) == dict:\n", + "lineno": 165, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 164, + "start_region_line": 164 + }, + { + "end_outermost_loop": 166, + "end_region_line": 166, + "line": " pretty_print_dict(k, d[k])\n", + "lineno": 166, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 164, + "start_region_line": 164 + }, + { + "end_outermost_loop": 167, + "end_region_line": 167, + "line": "\n", + "lineno": 167, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 167, + "start_region_line": 167 + }, + { + "end_outermost_loop": 168, + "end_region_line": 168, + "line": "\n", + "lineno": 168, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 168, + "start_region_line": 168 + }, + { + "end_outermost_loop": 169, + "end_region_line": 169, + "line": "\n", + "lineno": 169, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 169, + "start_region_line": 169 + }, + { + "end_outermost_loop": 283, + "end_region_line": 283, + "line": "class LoopStats():\n", + "lineno": 170, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 170, + "start_region_line": 170 + }, + { + "end_outermost_loop": 171, + "end_region_line": 283, + "line": " \"\"\"Track timing statistics for control loops\n", + "lineno": 171, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 171, + "start_region_line": 170 + }, + { + "end_outermost_loop": 172, + "end_region_line": 283, + "line": " \"\"\"\n", + "lineno": 172, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 172, + "start_region_line": 170 + }, + { + "end_outermost_loop": 173, + "end_region_line": 283, + "line": "\n", + "lineno": 173, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 173, + "start_region_line": 170 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " def __init__(self, loop_name, target_loop_rate):\n", + "lineno": 174, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 174, + "start_region_line": 174 + }, + { + "end_outermost_loop": 175, + "end_region_line": 195, + "line": " self.loop_name = loop_name\n", + "lineno": 175, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 175, + "start_region_line": 174 + }, + { + "end_outermost_loop": 176, + "end_region_line": 195, + "line": " self.target_loop_rate = target_loop_rate\n", + "lineno": 176, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 176, + "start_region_line": 174 + }, + { + "end_outermost_loop": 177, + "end_region_line": 195, + "line": " self.ts_loop_start = None\n", + "lineno": 177, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 177, + "start_region_line": 174 + }, + { + "end_outermost_loop": 178, + "end_region_line": 195, + "line": " self.ts_loop_end = None\n", + "lineno": 178, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 178, + "start_region_line": 174 + }, + { + "end_outermost_loop": 179, + "end_region_line": 195, + "line": " self.last_ts_loop_start = None\n", + "lineno": 179, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 179, + "start_region_line": 174 + }, + { + "end_outermost_loop": 180, + "end_region_line": 195, + "line": " self.status = {'execution_time_s': 0,\n", + "lineno": 180, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 180, + "start_region_line": 174 + }, + { + "end_outermost_loop": 181, + "end_region_line": 195, + "line": " 'curr_rate_hz': 0,\n", + "lineno": 181, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 174 + }, + { + "end_outermost_loop": 182, + "end_region_line": 195, + "line": " 'avg_rate_hz': 0,\n", + "lineno": 182, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 182, + "start_region_line": 174 + }, + { + "end_outermost_loop": 183, + "end_region_line": 195, + "line": " 'supportable_rate_hz': 0,\n", + "lineno": 183, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 183, + "start_region_line": 174 + }, + { + "end_outermost_loop": 184, + "end_region_line": 195, + "line": " 'min_rate_hz': float('inf'),\n", + "lineno": 184, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 184, + "start_region_line": 174 + }, + { + "end_outermost_loop": 185, + "end_region_line": 195, + "line": " 'max_rate_hz': 0,\n", + "lineno": 185, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 185, + "start_region_line": 174 + }, + { + "end_outermost_loop": 186, + "end_region_line": 195, + "line": " 'std_rate_hz': 0,\n", + "lineno": 186, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 186, + "start_region_line": 174 + }, + { + "end_outermost_loop": 187, + "end_region_line": 195, + "line": " 'missed_loops': 0,\n", + "lineno": 187, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 174 + }, + { + "end_outermost_loop": 188, + "end_region_line": 195, + "line": " 'num_loops': 0}\n", + "lineno": 188, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 188, + "start_region_line": 174 + }, + { + "end_outermost_loop": 189, + "end_region_line": 195, + "line": " self.logger = logging.getLogger(self.loop_name)\n", + "lineno": 189, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 189, + "start_region_line": 174 + }, + { + "end_outermost_loop": 190, + "end_region_line": 195, + "line": " self.curr_rate_history = []\n", + "lineno": 190, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 190, + "start_region_line": 174 + }, + { + "end_outermost_loop": 191, + "end_region_line": 195, + "line": " self.supportable_rate_history = []\n", + "lineno": 191, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 191, + "start_region_line": 174 + }, + { + "end_outermost_loop": 192, + "end_region_line": 195, + "line": " self.n_history = 100\n", + "lineno": 192, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 192, + "start_region_line": 174 + }, + { + "end_outermost_loop": 193, + "end_region_line": 195, + "line": " self.debug_freq = 50\n", + "lineno": 193, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 193, + "start_region_line": 174 + }, + { + "end_outermost_loop": 194, + "end_region_line": 195, + "line": " self.sleep_time_s = 0.0\n", + "lineno": 194, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 194, + "start_region_line": 174 + }, + { + "end_outermost_loop": 195, + "end_region_line": 195, + "line": " self.ts_0=time.time()\n", + "lineno": 195, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 195, + "start_region_line": 174 + }, + { + "end_outermost_loop": 196, + "end_region_line": 283, + "line": "\n", + "lineno": 196, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 196, + "start_region_line": 170 + }, + { + "end_outermost_loop": 206, + "end_region_line": 206, + "line": " def pretty_print(self):\n", + "lineno": 197, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 197, + "start_region_line": 197 + }, + { + "end_outermost_loop": 198, + "end_region_line": 206, + "line": " print('--------- TimingStats %s -----------' % self.loop_name)\n", + "lineno": 198, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 198, + "start_region_line": 197 + }, + { + "end_outermost_loop": 199, + "end_region_line": 206, + "line": " print('Target rate (Hz): %.2f' % self.target_loop_rate)\n", + "lineno": 199, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 199, + "start_region_line": 197 + }, + { + "end_outermost_loop": 200, + "end_region_line": 206, + "line": " print('Current rate (Hz): %.2f' % self.status['curr_rate_hz'])\n", + "lineno": 200, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 200, + "start_region_line": 197 + }, + { + "end_outermost_loop": 201, + "end_region_line": 206, + "line": " print('Average rate (Hz): %.2f' % self.status['avg_rate_hz'])\n", + "lineno": 201, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 201, + "start_region_line": 197 + }, + { + "end_outermost_loop": 202, + "end_region_line": 206, + "line": " print('Standard deviation of rate history (Hz): %.2f' % self.status['std_rate_hz'])\n", + "lineno": 202, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 202, + "start_region_line": 197 + }, + { + "end_outermost_loop": 203, + "end_region_line": 206, + "line": " print('Min rate (Hz): %.2f' % self.status['min_rate_hz'])\n", + "lineno": 203, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 203, + "start_region_line": 197 + }, + { + "end_outermost_loop": 204, + "end_region_line": 206, + "line": " print('Max rate (Hz): %.2f' % self.status['max_rate_hz'])\n", + "lineno": 204, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 204, + "start_region_line": 197 + }, + { + "end_outermost_loop": 205, + "end_region_line": 206, + "line": " print('Supportable rate (Hz): %.2f' % self.status['supportable_rate_hz'])\n", + "lineno": 205, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 205, + "start_region_line": 197 + }, + { + "end_outermost_loop": 206, + "end_region_line": 206, + "line": " print('Warnings: %d out of %d' % (self.status['missed_loops'], self.status['num_loops']))\n", + "lineno": 206, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 206, + "start_region_line": 197 + }, + { + "end_outermost_loop": 207, + "end_region_line": 283, + "line": "\n", + "lineno": 207, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 207, + "start_region_line": 170 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " def mark_loop_start(self):\n", + "lineno": 208, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 208, + "start_region_line": 208 + }, + { + "end_outermost_loop": 209, + "end_region_line": 253, + "line": " self.status['num_loops'] += 1\n", + "lineno": 209, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 209, + "start_region_line": 208 + }, + { + "end_outermost_loop": 210, + "end_region_line": 253, + "line": " self.ts_loop_start=time.time()\n", + "lineno": 210, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 210, + "start_region_line": 208 + }, + { + "end_outermost_loop": 211, + "end_region_line": 253, + "line": "\n", + "lineno": 211, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 211, + "start_region_line": 208 + }, + { + "end_outermost_loop": 214, + "end_region_line": 253, + "line": " if self.last_ts_loop_start is None: #Wait until have sufficient data\n", + "lineno": 212, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 212, + "start_region_line": 208 + }, + { + "end_outermost_loop": 213, + "end_region_line": 253, + "line": " self.last_ts_loop_start=self.ts_loop_start\n", + "lineno": 213, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 213, + "start_region_line": 208 + }, + { + "end_outermost_loop": 214, + "end_region_line": 253, + "line": " return\n", + "lineno": 214, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 214, + "start_region_line": 208 + }, + { + "end_outermost_loop": 215, + "end_region_line": 253, + "line": "\n", + "lineno": 215, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 215, + "start_region_line": 208 + }, + { + "end_outermost_loop": 216, + "end_region_line": 253, + "line": " self.status['curr_rate_hz'] = 1.0 / (self.ts_loop_start - self.last_ts_loop_start)\n", + "lineno": 216, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 216, + "start_region_line": 208 + }, + { + "end_outermost_loop": 217, + "end_region_line": 253, + "line": " self.status['min_rate_hz'] = min(self.status['curr_rate_hz'], self.status['min_rate_hz'])\n", + "lineno": 217, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 217, + "start_region_line": 208 + }, + { + "end_outermost_loop": 218, + "end_region_line": 253, + "line": " self.status['max_rate_hz'] = max(self.status['curr_rate_hz'], self.status['max_rate_hz'])\n", + "lineno": 218, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 218, + "start_region_line": 208 + }, + { + "end_outermost_loop": 219, + "end_region_line": 253, + "line": "\n", + "lineno": 219, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 219, + "start_region_line": 208 + }, + { + "end_outermost_loop": 220, + "end_region_line": 253, + "line": "\n", + "lineno": 220, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 220, + "start_region_line": 208 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " # Calculate average and supportable loop rate **must be done before marking loop end**\n", + "lineno": 221, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 208, + "start_region_line": 208 + }, + { + "end_outermost_loop": 223, + "end_region_line": 253, + "line": " if len(self.curr_rate_history) \\u003e= self.n_history:\n", + "lineno": 222, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 222, + "start_region_line": 208 + }, + { + "end_outermost_loop": 223, + "end_region_line": 253, + "line": " self.curr_rate_history.pop(0)\n", + "lineno": 223, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 223, + "start_region_line": 208 + }, + { + "end_outermost_loop": 224, + "end_region_line": 253, + "line": " self.curr_rate_history.append(self.status['curr_rate_hz'])\n", + "lineno": 224, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 224, + "start_region_line": 208 + }, + { + "end_outermost_loop": 225, + "end_region_line": 253, + "line": " self.status['avg_rate_hz'] = np.mean(self.curr_rate_history)\n", + "lineno": 225, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 225, + "start_region_line": 208 + }, + { + "end_outermost_loop": 226, + "end_region_line": 253, + "line": " self.status['std_rate_hz'] = np.std(self.curr_rate_history)\n", + "lineno": 226, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 208 + }, + { + "end_outermost_loop": 228, + "end_region_line": 253, + "line": " if len(self.supportable_rate_history) \\u003e= self.n_history:\n", + "lineno": 227, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 227, + "start_region_line": 208 + }, + { + "end_outermost_loop": 228, + "end_region_line": 253, + "line": " self.supportable_rate_history.pop(0)\n", + "lineno": 228, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 228, + "start_region_line": 208 + }, + { + "end_outermost_loop": 229, + "end_region_line": 253, + "line": " self.supportable_rate_history.append(1.0 / self.status['execution_time_s'])\n", + "lineno": 229, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 229, + "start_region_line": 208 + }, + { + "end_outermost_loop": 230, + "end_region_line": 253, + "line": " self.status['supportable_rate_hz'] = np.mean(self.supportable_rate_history)\n", + "lineno": 230, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 230, + "start_region_line": 208 + }, + { + "end_outermost_loop": 231, + "end_region_line": 253, + "line": "\n", + "lineno": 231, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 231, + "start_region_line": 208 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " # Log timing stats **must be done before marking loop end**\n", + "lineno": 232, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 208, + "start_region_line": 208 + }, + { + "end_outermost_loop": 244, + "end_region_line": 253, + "line": " if self.status['num_loops'] % self.debug_freq == 0:\n", + "lineno": 233, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 208 + }, + { + "end_outermost_loop": 234, + "end_region_line": 253, + "line": " self.logger.debug('--------- TimingStats %s %d -----------' % (self.loop_name, self.status['num_loops']))\n", + "lineno": 234, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 234, + "start_region_line": 208 + }, + { + "end_outermost_loop": 235, + "end_region_line": 253, + "line": " self.logger.debug('Target rate: %f' % self.target_loop_rate)\n", + "lineno": 235, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 235, + "start_region_line": 208 + }, + { + "end_outermost_loop": 236, + "end_region_line": 253, + "line": " self.logger.debug('Current rate (Hz): %f' % self.status['curr_rate_hz'])\n", + "lineno": 236, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 236, + "start_region_line": 208 + }, + { + "end_outermost_loop": 237, + "end_region_line": 253, + "line": " self.logger.debug('Average rate (Hz): %f' % self.status['avg_rate_hz'])\n", + "lineno": 237, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 237, + "start_region_line": 208 + }, + { + "end_outermost_loop": 238, + "end_region_line": 253, + "line": " self.logger.debug('Standard deviation of rate history (Hz): %f' % self.status['std_rate_hz'])\n", + "lineno": 238, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 238, + "start_region_line": 208 + }, + { + "end_outermost_loop": 239, + "end_region_line": 253, + "line": " self.logger.debug('Min rate (Hz): %f' % self.status['min_rate_hz'])\n", + "lineno": 239, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 239, + "start_region_line": 208 + }, + { + "end_outermost_loop": 240, + "end_region_line": 253, + "line": " self.logger.debug('Max rate (Hz): %f' % self.status['max_rate_hz'])\n", + "lineno": 240, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 240, + "start_region_line": 208 + }, + { + "end_outermost_loop": 241, + "end_region_line": 253, + "line": " self.logger.debug('Supportable rate (Hz): %f' % self.status['supportable_rate_hz'])\n", + "lineno": 241, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 241, + "start_region_line": 208 + }, + { + "end_outermost_loop": 242, + "end_region_line": 253, + "line": " self.logger.debug('Standard deviation of supportable rate history (Hz): %f' % np.std(self.supportable_rate_history))\n", + "lineno": 242, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 242, + "start_region_line": 208 + }, + { + "end_outermost_loop": 243, + "end_region_line": 253, + "line": " self.logger.debug('Warnings: %d out of %d' % (self.status['missed_loops'], self.status['num_loops']))\n", + "lineno": 243, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 243, + "start_region_line": 208 + }, + { + "end_outermost_loop": 244, + "end_region_line": 253, + "line": " self.logger.debug('Sleep time (s): %f' % self.sleep_time_s)\n", + "lineno": 244, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 244, + "start_region_line": 208 + }, + { + "end_outermost_loop": 245, + "end_region_line": 253, + "line": "\n", + "lineno": 245, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 245, + "start_region_line": 208 + }, + { + "end_outermost_loop": 246, + "end_region_line": 253, + "line": " self.last_ts_loop_start = self.ts_loop_start\n", + "lineno": 246, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 246, + "start_region_line": 208 + }, + { + "end_outermost_loop": 247, + "end_region_line": 253, + "line": "\n", + "lineno": 247, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 247, + "start_region_line": 208 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " # Calculate sleep time to achieve desired loop rate\n", + "lineno": 248, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 208, + "start_region_line": 208 + }, + { + "end_outermost_loop": 249, + "end_region_line": 253, + "line": " self.sleep_time_s = (1 / self.target_loop_rate) - self.status['execution_time_s']\n", + "lineno": 249, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 249, + "start_region_line": 208 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " if self.sleep_time_s \\u003c 0.0 and time.time()-self.ts_0\\u003e5.0: #Allow 5s for timing to stabilize on startup\n", + "lineno": 250, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 208 + }, + { + "end_outermost_loop": 251, + "end_region_line": 253, + "line": " self.status['missed_loops'] += 1\n", + "lineno": 251, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 251, + "start_region_line": 208 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " if self.status['missed_loops'] == 1:\n", + "lineno": 252, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 252, + "start_region_line": 208 + }, + { + "end_outermost_loop": 253, + "end_region_line": 253, + "line": " self.logger.debug('Missed target loop rate of %.2f Hz for %s. Currently %.2f Hz' % (self.target_loop_rate, self.loop_name, self.status['curr_rate_hz']))\n", + "lineno": 253, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 253, + "start_region_line": 208 + }, + { + "end_outermost_loop": 254, + "end_region_line": 283, + "line": "\n", + "lineno": 254, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 254, + "start_region_line": 170 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " def mark_loop_end(self):\n", + "lineno": 255, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 255, + "start_region_line": 255 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " # First two cycles initialize vars / log\n", + "lineno": 256, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 255, + "start_region_line": 255 + }, + { + "end_outermost_loop": 258, + "end_region_line": 260, + "line": " if self.ts_loop_start is None:\n", + "lineno": 257, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 257, + "start_region_line": 255 + }, + { + "end_outermost_loop": 258, + "end_region_line": 260, + "line": " return\n", + "lineno": 258, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 258, + "start_region_line": 255 + }, + { + "end_outermost_loop": 259, + "end_region_line": 260, + "line": " self.ts_loop_end = time.time()\n", + "lineno": 259, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 259, + "start_region_line": 255 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " self.status['execution_time_s'] = self.ts_loop_end - self.ts_loop_start\n", + "lineno": 260, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 260, + "start_region_line": 255 + }, + { + "end_outermost_loop": 261, + "end_region_line": 283, + "line": "\n", + "lineno": 261, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 261, + "start_region_line": 170 + }, + { + "end_outermost_loop": 262, + "end_region_line": 283, + "line": "\n", + "lineno": 262, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 262, + "start_region_line": 170 + }, + { + "end_outermost_loop": 268, + "end_region_line": 268, + "line": " def generate_rate_histogram(self, save=None):\n", + "lineno": 263, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 263, + "start_region_line": 263 + }, + { + "end_outermost_loop": 264, + "end_region_line": 268, + "line": " import matplotlib.pyplot as plt\n", + "lineno": 264, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 264, + "start_region_line": 263 + }, + { + "end_outermost_loop": 265, + "end_region_line": 268, + "line": " fig, axs = plt.subplots(1, 1, sharey=True, tight_layout=True)\n", + "lineno": 265, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 263 + }, + { + "end_outermost_loop": 266, + "end_region_line": 268, + "line": " fig.suptitle('Distribution of loop rate (Hz). Target of %.2f ' % self.target_loop_rate)\n", + "lineno": 266, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 266, + "start_region_line": 263 + }, + { + "end_outermost_loop": 267, + "end_region_line": 268, + "line": " axs.hist(x=self.curr_rate_history, bins='auto', color='#0504aa', alpha=0.7, rwidth=0.85)\n", + "lineno": 267, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 267, + "start_region_line": 263 + }, + { + "end_outermost_loop": 268, + "end_region_line": 268, + "line": " plt.show() if save is None else plt.savefig(save)\n", + "lineno": 268, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 268, + "start_region_line": 263 + }, + { + "end_outermost_loop": 269, + "end_region_line": 283, + "line": "\n", + "lineno": 269, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 269, + "start_region_line": 170 + }, + { + "end_outermost_loop": 276, + "end_region_line": 276, + "line": " def get_loop_sleep_time(self):\n", + "lineno": 270, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 270, + "start_region_line": 270 + }, + { + "end_outermost_loop": 271, + "end_region_line": 276, + "line": " \"\"\"\n", + "lineno": 271, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 271, + "start_region_line": 270 + }, + { + "end_outermost_loop": 272, + "end_region_line": 276, + "line": " Returns\n", + "lineno": 272, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 272, + "start_region_line": 270 + }, + { + "end_outermost_loop": 273, + "end_region_line": 276, + "line": " -------\n", + "lineno": 273, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 273, + "start_region_line": 270 + }, + { + "end_outermost_loop": 274, + "end_region_line": 276, + "line": " float : Time to sleep for to hit target loop rate\n", + "lineno": 274, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 274, + "start_region_line": 270 + }, + { + "end_outermost_loop": 275, + "end_region_line": 276, + "line": " \"\"\"\n", + "lineno": 275, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 275, + "start_region_line": 270 + }, + { + "end_outermost_loop": 276, + "end_region_line": 276, + "line": " return max(0.0, self.sleep_time_s)\n", + "lineno": 276, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 276, + "start_region_line": 270 + }, + { + "end_outermost_loop": 277, + "end_region_line": 283, + "line": "\n", + "lineno": 277, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 277, + "start_region_line": 170 + }, + { + "end_outermost_loop": 283, + "end_region_line": 283, + "line": " def wait_until_ready_to_run(self,sleep=.0005):\n", + "lineno": 278, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 278, + "start_region_line": 278 + }, + { + "end_outermost_loop": 281, + "end_region_line": 283, + "line": " if self.ts_loop_start is None:\n", + "lineno": 279, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 279, + "start_region_line": 278 + }, + { + "end_outermost_loop": 280, + "end_region_line": 283, + "line": " time.sleep(.01)\n", + "lineno": 280, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 280, + "start_region_line": 278 + }, + { + "end_outermost_loop": 281, + "end_region_line": 283, + "line": " return True\n", + "lineno": 281, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 281, + "start_region_line": 278 + }, + { + "end_outermost_loop": 283, + "end_region_line": 283, + "line": " while time.time()-self.ts_loop_start\\u003c(1/self.target_loop_rate):\n", + "lineno": 282, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 282, + "start_region_line": 282 + }, + { + "end_outermost_loop": 283, + "end_region_line": 283, + "line": " time.sleep(sleep)\n", + "lineno": 283, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 282, + "start_region_line": 282 + }, + { + "end_outermost_loop": 284, + "end_region_line": 284, + "line": "\n", + "lineno": 284, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 284, + "start_region_line": 284 + }, + { + "end_outermost_loop": 285, + "end_region_line": 285, + "line": "\n", + "lineno": 285, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 285, + "start_region_line": 285 + }, + { + "end_outermost_loop": 291, + "end_region_line": 291, + "line": "class ThreadServiceExit(Exception):\n", + "lineno": 286, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 286, + "start_region_line": 286 + }, + { + "end_outermost_loop": 287, + "end_region_line": 291, + "line": " \"\"\"\n", + "lineno": 287, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 287, + "start_region_line": 286 + }, + { + "end_outermost_loop": 288, + "end_region_line": 291, + "line": " Custom exception which is used to trigger the clean exit\n", + "lineno": 288, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 288, + "start_region_line": 286 + }, + { + "end_outermost_loop": 289, + "end_region_line": 291, + "line": " of all running threads and the main program.\n", + "lineno": 289, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 286 + }, + { + "end_outermost_loop": 290, + "end_region_line": 291, + "line": " \"\"\"\n", + "lineno": 290, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 290, + "start_region_line": 286 + }, + { + "end_outermost_loop": 291, + "end_region_line": 291, + "line": " pass\n", + "lineno": 291, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 291, + "start_region_line": 286 + }, + { + "end_outermost_loop": 292, + "end_region_line": 292, + "line": "\n", + "lineno": 292, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 292, + "start_region_line": 292 + }, + { + "end_outermost_loop": 293, + "end_region_line": 293, + "line": "#Signal handler, must be set from main thread\n", + "lineno": 293, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 293, + "start_region_line": 293 + }, + { + "end_outermost_loop": 296, + "end_region_line": 296, + "line": "def thread_service_shutdown(signum, frame):\n", + "lineno": 294, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 294, + "start_region_line": 294 + }, + { + "end_outermost_loop": 295, + "end_region_line": 296, + "line": " print('Caught signal %d' % signum)\n", + "lineno": 295, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 295, + "start_region_line": 294 + }, + { + "end_outermost_loop": 296, + "end_region_line": 296, + "line": " raise ThreadServiceExit\n", + "lineno": 296, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 296, + "start_region_line": 294 + }, + { + "end_outermost_loop": 297, + "end_region_line": 297, + "line": "\n", + "lineno": 297, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 297, + "start_region_line": 297 + }, + { + "end_outermost_loop": 319, + "end_region_line": 319, + "line": "def evaluate_polynomial_at(poly, t):\n", + "lineno": 298, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 298, + "start_region_line": 298 + }, + { + "end_outermost_loop": 299, + "end_region_line": 319, + "line": " \"\"\"Evaluate a quintic polynomial at a given time.\n", + "lineno": 299, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 299, + "start_region_line": 298 + }, + { + "end_outermost_loop": 300, + "end_region_line": 319, + "line": "\n", + "lineno": 300, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 300, + "start_region_line": 298 + }, + { + "end_outermost_loop": 301, + "end_region_line": 319, + "line": " Parameters\n", + "lineno": 301, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 301, + "start_region_line": 298 + }, + { + "end_outermost_loop": 302, + "end_region_line": 319, + "line": " ----------\n", + "lineno": 302, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 302, + "start_region_line": 298 + }, + { + "end_outermost_loop": 303, + "end_region_line": 319, + "line": " poly : List(float)\n", + "lineno": 303, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 303, + "start_region_line": 298 + }, + { + "end_outermost_loop": 304, + "end_region_line": 319, + "line": " Represents a quintic polynomial as a coefficients array [a0, a1, a2, a3, a4, a5].\n", + "lineno": 304, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 304, + "start_region_line": 298 + }, + { + "end_outermost_loop": 305, + "end_region_line": 319, + "line": " The polynomial is f(t) = a0 + a1*t + a2*t^2 + a3*t^3 + a4*t^4 + a5*t^5\n", + "lineno": 305, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 305, + "start_region_line": 298 + }, + { + "end_outermost_loop": 306, + "end_region_line": 319, + "line": " t : float\n", + "lineno": 306, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 306, + "start_region_line": 298 + }, + { + "end_outermost_loop": 307, + "end_region_line": 319, + "line": " the time in seconds at which to evaluate the polynomial\n", + "lineno": 307, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 307, + "start_region_line": 298 + }, + { + "end_outermost_loop": 308, + "end_region_line": 319, + "line": "\n", + "lineno": 308, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 308, + "start_region_line": 298 + }, + { + "end_outermost_loop": 309, + "end_region_line": 319, + "line": " Returns\n", + "lineno": 309, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 309, + "start_region_line": 298 + }, + { + "end_outermost_loop": 310, + "end_region_line": 319, + "line": " -------\n", + "lineno": 310, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 310, + "start_region_line": 298 + }, + { + "end_outermost_loop": 311, + "end_region_line": 319, + "line": " Tuple(float)\n", + "lineno": 311, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 311, + "start_region_line": 298 + }, + { + "end_outermost_loop": 312, + "end_region_line": 319, + "line": " array with three elements: evaluated position, velocity, and acceleration.\n", + "lineno": 312, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 312, + "start_region_line": 298 + }, + { + "end_outermost_loop": 313, + "end_region_line": 319, + "line": " \"\"\"\n", + "lineno": 313, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 313, + "start_region_line": 298 + }, + { + "end_outermost_loop": 314, + "end_region_line": 319, + "line": " a = [float(elem) for elem in poly]\n", + "lineno": 314, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 314, + "start_region_line": 298 + }, + { + "end_outermost_loop": 315, + "end_region_line": 319, + "line": " t = float(t)\n", + "lineno": 315, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 315, + "start_region_line": 298 + }, + { + "end_outermost_loop": 316, + "end_region_line": 319, + "line": " pos = a[0] + (a[1]*t) + (a[2]*t**2) + (a[3]*t**3) + (a[4]*t**4) + (a[5]*t**5)\n", + "lineno": 316, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 316, + "start_region_line": 298 + }, + { + "end_outermost_loop": 317, + "end_region_line": 319, + "line": " vel = a[1] + (2*a[2]*t) + (3*a[3]*t**2) + (4*a[4]*t**3) + (5*a[5]*t**4)\n", + "lineno": 317, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 317, + "start_region_line": 298 + }, + { + "end_outermost_loop": 318, + "end_region_line": 319, + "line": " accel = (2*a[2]) + (6*a[3]*t) + (12*a[4]*t**2) + (20*a[5]*t**3)\n", + "lineno": 318, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 318, + "start_region_line": 298 + }, + { + "end_outermost_loop": 319, + "end_region_line": 319, + "line": " return (pos, vel, accel)\n", + "lineno": 319, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 319, + "start_region_line": 298 + }, + { + "end_outermost_loop": 320, + "end_region_line": 320, + "line": "\n", + "lineno": 320, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 320, + "start_region_line": 320 + }, + { + "end_outermost_loop": 359, + "end_region_line": 359, + "line": "def is_segment_feasible(segment, v_des, a_des, t=0.0, inc=0.1):\n", + "lineno": 321, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 321, + "start_region_line": 321 + }, + { + "end_outermost_loop": 322, + "end_region_line": 359, + "line": " \"\"\"Determine whether a segment adheres to dynamic limits.\n", + "lineno": 322, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 322, + "start_region_line": 321 + }, + { + "end_outermost_loop": 323, + "end_region_line": 359, + "line": "\n", + "lineno": 323, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 323, + "start_region_line": 321 + }, + { + "end_outermost_loop": 324, + "end_region_line": 359, + "line": " Parameters\n", + "lineno": 324, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 324, + "start_region_line": 321 + }, + { + "end_outermost_loop": 325, + "end_region_line": 359, + "line": " ----------\n", + "lineno": 325, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 325, + "start_region_line": 321 + }, + { + "end_outermost_loop": 326, + "end_region_line": 359, + "line": " segment : List\n", + "lineno": 326, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 326, + "start_region_line": 321 + }, + { + "end_outermost_loop": 327, + "end_region_line": 359, + "line": " Represents a segment of a waypoint trajectory as a list of length eight,\n", + "lineno": 327, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 327, + "start_region_line": 321 + }, + { + "end_outermost_loop": 328, + "end_region_line": 359, + "line": " structured like [duration_s, a0, a1, a2, a3, a4, a5, segment_id].\n", + "lineno": 328, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 328, + "start_region_line": 321 + }, + { + "end_outermost_loop": 329, + "end_region_line": 359, + "line": " v_des : float\n", + "lineno": 329, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 329, + "start_region_line": 321 + }, + { + "end_outermost_loop": 330, + "end_region_line": 359, + "line": " Velocity limit that the segment shouldn't exceed\n", + "lineno": 330, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 330, + "start_region_line": 321 + }, + { + "end_outermost_loop": 331, + "end_region_line": 359, + "line": " a_des : float\n", + "lineno": 331, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 331, + "start_region_line": 321 + }, + { + "end_outermost_loop": 332, + "end_region_line": 359, + "line": " Acceleration limit that the segment shouldn't exceed\n", + "lineno": 332, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 332, + "start_region_line": 321 + }, + { + "end_outermost_loop": 333, + "end_region_line": 359, + "line": " t : float\n", + "lineno": 333, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 333, + "start_region_line": 321 + }, + { + "end_outermost_loop": 334, + "end_region_line": 359, + "line": " optional, time in seconds at which to begin checking segment\n", + "lineno": 334, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 334, + "start_region_line": 321 + }, + { + "end_outermost_loop": 335, + "end_region_line": 359, + "line": " inc : float\n", + "lineno": 335, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 335, + "start_region_line": 321 + }, + { + "end_outermost_loop": 336, + "end_region_line": 359, + "line": " optional, increment in seconds at which the polynomial is evaluated along the segment\n", + "lineno": 336, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 336, + "start_region_line": 321 + }, + { + "end_outermost_loop": 337, + "end_region_line": 359, + "line": "\n", + "lineno": 337, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 337, + "start_region_line": 321 + }, + { + "end_outermost_loop": 338, + "end_region_line": 359, + "line": " Returns\n", + "lineno": 338, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 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"n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 340, + "start_region_line": 321 + }, + { + "end_outermost_loop": 341, + "end_region_line": 359, + "line": " whether the segment is feasible\n", + "lineno": 341, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 341, + "start_region_line": 321 + }, + { + "end_outermost_loop": 342, + "end_region_line": 359, + "line": " max_v: float\n", + "lineno": 342, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 342, + "start_region_line": 321 + }, + { + "end_outermost_loop": 343, + "end_region_line": 359, + "line": " Maximum velocity of spline\n", + "lineno": 343, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 343, + "start_region_line": 321 + }, + { + "end_outermost_loop": 344, + "end_region_line": 359, + "line": " max_a: float\n", + "lineno": 344, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 344, + "start_region_line": 321 + }, + { + "end_outermost_loop": 345, + "end_region_line": 359, + "line": " Maximum acceleration of spline\n", + "lineno": 345, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 345, + "start_region_line": 321 + }, + { + "end_outermost_loop": 346, + "end_region_line": 359, + "line": " \"\"\"\n", + "lineno": 346, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 346, + "start_region_line": 321 + }, + { + "end_outermost_loop": 347, + "end_region_line": 359, + "line": " v_des = float(v_des)\n", + "lineno": 347, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 347, + "start_region_line": 321 + }, + { + "end_outermost_loop": 348, + "end_region_line": 359, + "line": " a_des = float(a_des)\n", + "lineno": 348, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 348, + "start_region_line": 321 + }, + { + "end_outermost_loop": 349, + "end_region_line": 359, + "line": " max_v = 0\n", + "lineno": 349, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 349, + "start_region_line": 321 + }, + { + "end_outermost_loop": 350, + "end_region_line": 359, + "line": " max_a =0\n", + "lineno": 350, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 350, + "start_region_line": 321 + }, + { + "end_outermost_loop": 351, + "end_region_line": 359, + "line": " success=True\n", + "lineno": 351, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 351, + "start_region_line": 321 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " while t \\u003c segment[0]:\n", + "lineno": 352, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " x_t, vel_t, acc_t = evaluate_polynomial_at(segment[1:-1], t)\n", + "lineno": 353, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " max_v=max(max_v,abs(vel_t))\n", + "lineno": 354, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " max_a = max(max_a, abs(acc_t))\n", + "lineno": 355, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " if abs(vel_t) \\u003e v_des or abs(acc_t) \\u003e a_des:\n", + "lineno": 356, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " success=False\n", + "lineno": 357, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 358, + "end_region_line": 358, + "line": " t = min(segment[0], t + inc)\n", + "lineno": 358, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 352, + "start_region_line": 352 + }, + { + "end_outermost_loop": 359, + "end_region_line": 359, + "line": " return success, max_v, max_a\n", + "lineno": 359, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 321 + }, + { + "end_outermost_loop": 360, + "end_region_line": 360, + "line": "\n", + "lineno": 360, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 360, + "start_region_line": 360 + }, + { + "end_outermost_loop": 386, + "end_region_line": 386, + "line": "def generate_quintic_polynomial(i, f):\n", + "lineno": 361, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 361, + "start_region_line": 361 + }, + { + "end_outermost_loop": 362, + "end_region_line": 386, + "line": " \"\"\"Generate quintic polynomial from two points\n", + "lineno": 362, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 362, + "start_region_line": 361 + }, + { + "end_outermost_loop": 363, + "end_region_line": 386, + "line": "\n", + "lineno": 363, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 363, + "start_region_line": 361 + }, + { + "end_outermost_loop": 364, + "end_region_line": 386, + "line": " Parameters\n", + "lineno": 364, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 364, + "start_region_line": 361 + }, + { + "end_outermost_loop": 365, + "end_region_line": 386, + "line": " ----------\n", + "lineno": 365, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 365, + "start_region_line": 361 + }, + { + "end_outermost_loop": 366, + "end_region_line": 386, + "line": " i : List(float)\n", + "lineno": 366, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 366, + "start_region_line": 361 + }, + { + "end_outermost_loop": 367, + "end_region_line": 386, + "line": " Represents the first waypoint as a list, [time, pos, vel, accel]\n", + "lineno": 367, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 367, + "start_region_line": 361 + }, + { + "end_outermost_loop": 368, + "end_region_line": 386, + "line": " f : List(float)\n", + "lineno": 368, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 368, + "start_region_line": 361 + }, + { + "end_outermost_loop": 369, + "end_region_line": 386, + "line": " Represents the second waypoint as a list, [time, pos, vel, accel]\n", + "lineno": 369, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 369, + "start_region_line": 361 + }, + { + "end_outermost_loop": 370, + "end_region_line": 386, + "line": "\n", + "lineno": 370, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 370, + "start_region_line": 361 + }, + { + "end_outermost_loop": 371, + "end_region_line": 386, + "line": " Returns\n", + "lineno": 371, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 371, + "start_region_line": 361 + }, + { + "end_outermost_loop": 372, + "end_region_line": 386, + "line": " -------\n", + "lineno": 372, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 372, + "start_region_line": 361 + }, + { + "end_outermost_loop": 373, + "end_region_line": 386, + "line": " List(float)\n", + "lineno": 373, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 373, + "start_region_line": 361 + }, + { + "end_outermost_loop": 374, + "end_region_line": 386, + "line": " Represents a quintic polynomial as a coefficients + duration array [duration, a0, a1, a2, a3, a4, a5].\n", + "lineno": 374, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 374, + "start_region_line": 361 + }, + { + "end_outermost_loop": 375, + "end_region_line": 386, + "line": " The polynomial is f(t) = a0 + a1*t + a2*t^2 + a3*t^3 + a4*t^4 + a5*t^5\n", + "lineno": 375, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 375, + "start_region_line": 361 + }, + { + "end_outermost_loop": 376, + "end_region_line": 386, + "line": " \"\"\"\n", + "lineno": 376, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 376, + "start_region_line": 361 + }, + { + "end_outermost_loop": 377, + "end_region_line": 386, + "line": " i = [float(elem) for elem in i]\n", + "lineno": 377, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 377, + "start_region_line": 361 + }, + { + "end_outermost_loop": 378, + "end_region_line": 386, + "line": " f = [float(elem) for elem in f]\n", + "lineno": 378, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 378, + "start_region_line": 361 + }, + { + "end_outermost_loop": 379, + "end_region_line": 386, + "line": " duration = f[0] - i[0]\n", + "lineno": 379, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 379, + "start_region_line": 361 + }, + { + "end_outermost_loop": 380, + "end_region_line": 386, + "line": " a0 = i[1]\n", + "lineno": 380, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 380, + "start_region_line": 361 + }, + { + "end_outermost_loop": 381, + "end_region_line": 386, + "line": " a1 = i[2]\n", + "lineno": 381, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 381, + "start_region_line": 361 + }, + { + "end_outermost_loop": 382, + "end_region_line": 386, + "line": " a2 = i[3] / 2\n", + "lineno": 382, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 382, + "start_region_line": 361 + }, + { + "end_outermost_loop": 383, + "end_region_line": 386, + "line": " a3 = (20 * f[1] - 20 * i[1] - (8 * f[2] + 12 * i[2]) * duration - (3 * i[3] - f[3]) * (duration ** 2)) / (2 * (duration ** 3))\n", + "lineno": 383, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 383, + "start_region_line": 361 + }, + { + "end_outermost_loop": 384, + "end_region_line": 386, + "line": " a4 = (30 * i[1] - 30 * f[1] + (14 * f[2] + 16 * i[2]) * duration + (3 * i[3] - 2 * f[3]) * (duration ** 2)) / (2 * (duration ** 4))\n", + "lineno": 384, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 384, + "start_region_line": 361 + }, + { + "end_outermost_loop": 385, + "end_region_line": 386, + "line": " a5 = (12 * f[1] - 12 * i[1] - (6 * f[2] + 6 * i[2]) * duration - (i[3] - f[3]) * (duration ** 2)) / (2 * (duration ** 5))\n", + "lineno": 385, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 385, + "start_region_line": 361 + }, + { + "end_outermost_loop": 386, + "end_region_line": 386, + "line": " return [duration, a0, a1, a2, a3, a4, a5]\n", + "lineno": 386, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 386, + "start_region_line": 361 + }, + { + "end_outermost_loop": 387, + "end_region_line": 387, + "line": "\n", + "lineno": 387, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 387, + "start_region_line": 387 + }, + { + "end_outermost_loop": 411, + "end_region_line": 411, + "line": "def generate_cubic_polynomial(i, f):\n", + "lineno": 388, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 388, + "start_region_line": 388 + }, + { + "end_outermost_loop": 389, + "end_region_line": 411, + "line": " \"\"\"Generate cubic polynomial from two points\n", + "lineno": 389, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 389, + "start_region_line": 388 + }, + { + "end_outermost_loop": 390, + "end_region_line": 411, + "line": "\n", + "lineno": 390, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 390, + "start_region_line": 388 + }, + { + "end_outermost_loop": 391, + "end_region_line": 411, + "line": " Parameters\n", + "lineno": 391, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 391, + "start_region_line": 388 + }, + { + "end_outermost_loop": 392, + "end_region_line": 411, + "line": " ----------\n", + "lineno": 392, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 392, + "start_region_line": 388 + }, + { + "end_outermost_loop": 393, + "end_region_line": 411, + "line": " i : List(float)\n", + "lineno": 393, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 393, + "start_region_line": 388 + }, + { + "end_outermost_loop": 394, + "end_region_line": 411, + "line": " Represents the first waypoint as a list, [time, pos, vel]\n", + "lineno": 394, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 394, + "start_region_line": 388 + }, + { + "end_outermost_loop": 395, + "end_region_line": 411, + "line": " f : List(float)\n", + "lineno": 395, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 395, + "start_region_line": 388 + }, + { + "end_outermost_loop": 396, + "end_region_line": 411, + "line": " Represents the second waypoint as a list, [time, pos, vel]\n", + "lineno": 396, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 396, + "start_region_line": 388 + }, + { + "end_outermost_loop": 397, + "end_region_line": 411, + "line": "\n", + "lineno": 397, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 397, + "start_region_line": 388 + }, + { + "end_outermost_loop": 398, + "end_region_line": 411, + "line": " Returns\n", + "lineno": 398, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 398, + "start_region_line": 388 + }, + { + "end_outermost_loop": 399, + "end_region_line": 411, + "line": " -------\n", + "lineno": 399, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 399, + "start_region_line": 388 + }, + { + "end_outermost_loop": 400, + "end_region_line": 411, + "line": " List(float)\n", + "lineno": 400, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 400, + "start_region_line": 388 + }, + { + "end_outermost_loop": 401, + "end_region_line": 411, + "line": " Represents a cubic polynomial as a coefficients + duration array [duration, a0, a1, a2, a3, 0, 0].\n", + "lineno": 401, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 401, + "start_region_line": 388 + }, + { + "end_outermost_loop": 402, + "end_region_line": 411, + "line": " The polynomial is f(t) = a0 + a1*t + a2*t^2 + a3*t^3\n", + "lineno": 402, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 402, + "start_region_line": 388 + }, + { + "end_outermost_loop": 403, + "end_region_line": 411, + "line": " \"\"\"\n", + "lineno": 403, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 403, + "start_region_line": 388 + }, + { + "end_outermost_loop": 404, + "end_region_line": 411, + "line": " i = [float(elem) for elem in i]\n", + "lineno": 404, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 404, + "start_region_line": 388 + }, + { + "end_outermost_loop": 405, + "end_region_line": 411, + "line": " f = [float(elem) for elem in f]\n", + "lineno": 405, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 405, + "start_region_line": 388 + }, + { + "end_outermost_loop": 406, + "end_region_line": 411, + "line": " duration = f[0] - i[0]\n", + "lineno": 406, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 406, + "start_region_line": 388 + }, + { + "end_outermost_loop": 407, + "end_region_line": 411, + "line": " a0 = i[1]\n", + "lineno": 407, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 407, + "start_region_line": 388 + }, + { + "end_outermost_loop": 408, + "end_region_line": 411, + "line": " a1 = i[2]\n", + "lineno": 408, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 408, + "start_region_line": 388 + }, + { + "end_outermost_loop": 409, + "end_region_line": 411, + "line": " a2 = (3 / duration ** 2) * (f[1] - i[1]) - (2 / duration) * i[2] - (1 / duration) * f[2]\n", + "lineno": 409, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 409, + "start_region_line": 388 + }, + { + "end_outermost_loop": 410, + "end_region_line": 411, + "line": " a3 = (-2 / duration ** 3) * (f[1] - i[1]) + (1 / duration ** 2) * (f[2] + i[2])\n", + "lineno": 410, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 410, + "start_region_line": 388 + }, + { + "end_outermost_loop": 411, + "end_region_line": 411, + "line": " return [duration, a0, a1, a2, a3, 0, 0]\n", + "lineno": 411, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 411, + "start_region_line": 388 + }, + { + "end_outermost_loop": 412, + "end_region_line": 412, + "line": "\n", + "lineno": 412, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 412, + "start_region_line": 412 + }, + { + "end_outermost_loop": 434, + "end_region_line": 434, + "line": "def generate_linear_polynomial(i, f):\n", + "lineno": 413, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 413, + "start_region_line": 413 + }, + { + "end_outermost_loop": 414, + "end_region_line": 434, + "line": " \"\"\"Generate linear polynomial from two points\n", + "lineno": 414, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 414, + "start_region_line": 413 + }, + { + "end_outermost_loop": 415, + "end_region_line": 434, + "line": "\n", + "lineno": 415, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 415, + "start_region_line": 413 + }, + { + "end_outermost_loop": 416, + "end_region_line": 434, + "line": " Parameters\n", + "lineno": 416, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 416, + "start_region_line": 413 + }, + { + "end_outermost_loop": 417, + "end_region_line": 434, + "line": " ----------\n", + "lineno": 417, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 417, + "start_region_line": 413 + }, + { + "end_outermost_loop": 418, + "end_region_line": 434, + "line": " i : List(float)\n", + "lineno": 418, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 418, + "start_region_line": 413 + }, + { + "end_outermost_loop": 419, + "end_region_line": 434, + "line": " Represents the first waypoint as a list, [time, pos]\n", + "lineno": 419, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 419, + "start_region_line": 413 + }, + { + "end_outermost_loop": 420, + "end_region_line": 434, + "line": " f : List(float)\n", + "lineno": 420, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 420, + "start_region_line": 413 + }, + { + "end_outermost_loop": 421, + "end_region_line": 434, + "line": " Represents the second waypoint as a list, [time, pos]\n", + "lineno": 421, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 421, + "start_region_line": 413 + }, + { + "end_outermost_loop": 422, + "end_region_line": 434, + "line": "\n", + "lineno": 422, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + 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coefficients + duration array [duration, a0, a1, 0, 0, 0, 0].\n", + "lineno": 426, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 426, + "start_region_line": 413 + }, + { + "end_outermost_loop": 427, + "end_region_line": 434, + "line": " The polynomial is f(t) = a0 + a1*t\n", + "lineno": 427, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + 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477, + "line": "\n", + "lineno": 438, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 438, + "start_region_line": 436 + }, + { + "end_outermost_loop": 439, + "end_region_line": 477, + "line": " Assumed that between pose 0 and pose 1, there has only been\n", + "lineno": 439, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + 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0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 443, + "start_region_line": 436 + }, + { + "end_outermost_loop": 444, + "end_region_line": 477, + "line": " pose0 : Tuple(float, float, float)\n", + "lineno": 444, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 444, + "start_region_line": 436 + }, + { + "end_outermost_loop": 445, + "end_region_line": 477, + "line": " x, y, theta in meters and radians\n", + "lineno": 445, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 445, + "start_region_line": 436 + }, + { + "end_outermost_loop": 446, + "end_region_line": 477, + "line": " pose1 : Tuple(float, float, float)\n", + "lineno": 446, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + 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"n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 450, + "start_region_line": 436 + }, + { + "end_outermost_loop": 451, + "end_region_line": 477, + "line": " float, float\n", + "lineno": 451, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 451, + "start_region_line": 436 + }, + { + "end_outermost_loop": 452, + "end_region_line": 477, + "line": " Tuple (dx, dtheta) of translation and rotation required to\n", + "lineno": 452, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 452, + "start_region_line": 436 + }, + { + "end_outermost_loop": 453, + "end_region_line": 477, + "line": " move from pose0 to pose1\n", + "lineno": 453, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 453, + "start_region_line": 436 + }, + { + "end_outermost_loop": 454, + "end_region_line": 477, + "line": " \"\"\"\n", + "lineno": 454, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 454, + "start_region_line": 436 + }, + { + "end_outermost_loop": 455, + "end_region_line": 477, + "line": " x0, y0, theta0 = pose0\n", + "lineno": 455, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 455, + "start_region_line": 436 + }, + { + "end_outermost_loop": 456, + "end_region_line": 477, + "line": " x1, y1, theta1 = pose1\n", + "lineno": 456, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 456, + "start_region_line": 436 + }, + { + "end_outermost_loop": 457, + "end_region_line": 477, + "line": " theta0 = np.arctan2(np.sin(theta0), np.cos(theta0)) # constrains to [-pi, pi]\n", + "lineno": 457, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 457, + "start_region_line": 436 + }, + { + "end_outermost_loop": 458, + "end_region_line": 477, + "line": " theta1 = np.arctan2(np.sin(theta1), np.cos(theta1)) # constrains to [-pi, pi]\n", + "lineno": 458, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 458, + "start_region_line": 436 + }, + { + "end_outermost_loop": 459, + "end_region_line": 477, + "line": "\n", + "lineno": 459, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 459, + "start_region_line": 436 + }, + { + "end_outermost_loop": 477, + "end_region_line": 477, + "line": " # TODO: For now, we use a simplified motion model where we assume\n", + "lineno": 460, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 436, + "start_region_line": 436 + }, + { + "end_outermost_loop": 477, + "end_region_line": 477, + "line": " # that every motion is either a translation OR a rotation,\n", + "lineno": 461, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 436, + "start_region_line": 436 + }, + { + "end_outermost_loop": 477, + "end_region_line": 477, + "line": " # and the translation is either straight forward or straight back\n", + "lineno": 462, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 436, + "start_region_line": 436 + }, + { + "end_outermost_loop": 464, + "end_region_line": 477, + "line": " if np.isclose(x0, x1, atol=translation_atol) and np.isclose(y0, y1, atol=translation_atol):\n", + "lineno": 463, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 463, + "start_region_line": 436 + }, + { + "end_outermost_loop": 464, + "end_region_line": 477, + "line": " return 0.0, theta1 - theta0\n", + "lineno": 464, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 464, + "start_region_line": 436 + }, + { + "end_outermost_loop": 465, + "end_region_line": 477, + "line": "\n", + "lineno": 465, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 465, + "start_region_line": 436 + }, + { + "end_outermost_loop": 475, + "end_region_line": 477, + "line": " if np.isclose(theta0, theta1, atol=rotation_atol):\n", + "lineno": 466, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 466, + "start_region_line": 436 + }, + { + "end_outermost_loop": 467, + "end_region_line": 477, + "line": " dx = x1 - x0\n", + "lineno": 467, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 467, + "start_region_line": 436 + }, + { + "end_outermost_loop": 468, + "end_region_line": 477, + "line": " dy = y1 - y0\n", + "lineno": 468, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 468, + "start_region_line": 436 + }, + { + "end_outermost_loop": 469, + "end_region_line": 477, + "line": " drive_angle = math.atan2(dy, dx)\n", + "lineno": 469, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 469, + "start_region_line": 436 + }, + { + "end_outermost_loop": 470, + "end_region_line": 477, + "line": " distance = math.hypot(dy, dx)\n", + "lineno": 470, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 470, + "start_region_line": 436 + }, + { + "end_outermost_loop": 472, + "end_region_line": 477, + "line": " if np.isclose(drive_angle, theta0, atol=rotation_atol):\n", + "lineno": 471, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 471, + "start_region_line": 436 + }, + { + "end_outermost_loop": 472, + "end_region_line": 477, + "line": " return distance, 0.0\n", + "lineno": 472, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 472, + "start_region_line": 436 + }, + { + "end_outermost_loop": 473, + "end_region_line": 477, + "line": " opposite_theta0 = np.arctan2(np.sin(theta0 + np.pi), np.cos(theta0 + np.pi)) # constrains to [-pi, pi]\n", + "lineno": 473, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 473, + "start_region_line": 436 + }, + { + "end_outermost_loop": 475, + "end_region_line": 477, + "line": " if np.isclose(drive_angle, opposite_theta0, atol=rotation_atol):\n", + "lineno": 474, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 474, + "start_region_line": 436 + }, + { + "end_outermost_loop": 475, + "end_region_line": 477, + "line": " return -distance, 0.0\n", + "lineno": 475, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 475, + "start_region_line": 436 + }, + { + "end_outermost_loop": 476, + "end_region_line": 477, + "line": "\n", + "lineno": 476, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 476, + "start_region_line": 436 + }, + { + "end_outermost_loop": 477, + "end_region_line": 477, + "line": " return 0.0, 0.0\n", + "lineno": 477, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 477, + "start_region_line": 436 + }, + { + "end_outermost_loop": 478, + "end_region_line": 478, + "line": "\n", + "lineno": 478, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 478, + "start_region_line": 478 + }, + { + "end_outermost_loop": 486, + "end_region_line": 486, + "line": "def pseudo_N_to_effort_pct(joint_name,contact_thresh_N):\n", + "lineno": 479, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 479, + "start_region_line": 479 + }, + { + "end_outermost_loop": 480, + "end_region_line": 486, + "line": " import stretch_body.robot_params\n", + "lineno": 480, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 480, + "start_region_line": 479 + }, + { + "end_outermost_loop": 481, + "end_region_line": 486, + "line": " d = stretch_body.robot_params.RobotParams.get_params()[1] #Get complete param dict\n", + "lineno": 481, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 481, + "start_region_line": 479 + }, + { + "end_outermost_loop": 482, + "end_region_line": 486, + "line": " motor_name = {'arm':'hello-motor-arm', 'lift': 'hello-motor-lift', 'base':'hello-motor-left-wheel'}[joint_name]\n", + "lineno": 482, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 482, + "start_region_line": 479 + }, + { + "end_outermost_loop": 483, + "end_region_line": 486, + "line": " i_feedforward = 0 if joint_name =='base' else d[joint_name]['i_feedforward']\n", + "lineno": 483, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 483, + "start_region_line": 479 + }, + { + "end_outermost_loop": 484, + "end_region_line": 486, + "line": " iMax_name = 'iMax_neg' if contact_thresh_N\\u003c0 else 'iMax_pos'\n", + "lineno": 484, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 484, + "start_region_line": 479 + }, + { + "end_outermost_loop": 485, + "end_region_line": 486, + "line": " contact_A = (contact_thresh_N / d[joint_name]['force_N_per_A'])+i_feedforward\n", + "lineno": 485, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 485, + "start_region_line": 479 + }, + { + "end_outermost_loop": 486, + "end_region_line": 486, + "line": " return 100*contact_A / abs(d[motor_name]['gains'][iMax_name])\n", + "lineno": 486, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 486, + "start_region_line": 479 + }, + { + "end_outermost_loop": 487, + "end_region_line": 487, + "line": "\n", + "lineno": 487, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 487, + "start_region_line": 487 + }, + { + "end_outermost_loop": 488, + "end_region_line": 488, + "line": "\n", + "lineno": 488, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 488, + "start_region_line": 488 + }, + { + "end_outermost_loop": 513, + "end_region_line": 513, + "line": "def check_deprecated_contact_model_base(joint,method_name, contact_thresh_N,contact_thresh ):\n", + "lineno": 489, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 489, + "start_region_line": 489 + }, + { + "end_outermost_loop": 490, + "end_region_line": 513, + "line": " \"\"\"\n", + "lineno": 490, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 490, + "start_region_line": 489 + }, + { + "end_outermost_loop": 491, + "end_region_line": 513, + "line": " With RE2 we are transitioning entire stretch fleet to use new API (and effort_pct for the contact model)\n", + "lineno": 491, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 491, + "start_region_line": 489 + }, + { + "end_outermost_loop": 492, + "end_region_line": 513, + "line": " Catch older code that is using the older API and require updating of code\n", + "lineno": 492, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 492, + "start_region_line": 489 + }, + { + "end_outermost_loop": 493, + "end_region_line": 513, + "line": " \"\"\"\n", + "lineno": 493, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 493, + "start_region_line": 489 + }, + { + "end_outermost_loop": 494, + "end_region_line": 513, + "line": "\n", + "lineno": 494, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 494, + "start_region_line": 489 + }, + { + "end_outermost_loop": 513, + "end_region_line": 513, + "line": " #Check if old parameters still found in YAML\n", + "lineno": 495, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 489, + "start_region_line": 489 + }, + { + "end_outermost_loop": 503, + "end_region_line": 513, + "line": " if ('contact_thresh_max_N' in joint.params) or ('contact_thresh_N' in joint.params):\n", + "lineno": 496, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 496, + "start_region_line": 489 + }, + { + "end_outermost_loop": 497, + "end_region_line": 513, + "line": " msg=\"Robot is using out-of-date contact parameters\"\n", + "lineno": 497, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 497, + "start_region_line": 489 + }, + { + "end_outermost_loop": 498, + "end_region_line": 513, + "line": " msg=msg+'Please run tool RE1_migrate_contacts.py before continuing.\\n'\n", + "lineno": 498, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 498, + "start_region_line": 489 + }, + { + "end_outermost_loop": 499, + "end_region_line": 513, + "line": " msg=msg+'For more details, see https://forum.hello-robot.com/t/476 \\n'\n", + "lineno": 499, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 499, + "start_region_line": 489 + }, + { + "end_outermost_loop": 500, + "end_region_line": 513, + "line": " msg = msg + 'In method %s.%s' % (joint.name, method_name)\n", + "lineno": 500, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 500, + "start_region_line": 489 + }, + { + "end_outermost_loop": 501, + "end_region_line": 513, + "line": " print(msg)\n", + "lineno": 501, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 501, + "start_region_line": 489 + }, + { + "end_outermost_loop": 502, + "end_region_line": 513, + "line": " joint.logger.error(msg)\n", + "lineno": 502, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 502, + "start_region_line": 489 + }, + { + "end_outermost_loop": 503, + "end_region_line": 513, + "line": " sys.exit(1)\n", + "lineno": 503, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 503, + "start_region_line": 489 + }, + { + "end_outermost_loop": 504, + "end_region_line": 513, + "line": "\n", + "lineno": 504, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 504, + "start_region_line": 489 + }, + { + "end_outermost_loop": 513, + "end_region_line": 513, + "line": " #Check if code is passing in old values\n", + "lineno": 505, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 489, + "start_region_line": 489 + }, + { + "end_outermost_loop": 513, + "end_region_line": 513, + "line": " if contact_thresh_N is not None:\n", + "lineno": 506, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 506, + "start_region_line": 489 + }, + { + "end_outermost_loop": 507, + "end_region_line": 513, + "line": " msg='Use of parameter contact_thresh_N is no longer supported\\n'\n", + "lineno": 507, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 489 + }, + { + "end_outermost_loop": 508, + "end_region_line": 513, + "line": " msg= msg + 'Update your code to use (contact_thresh)\\n'\n", + "lineno": 508, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 508, + "start_region_line": 489 + }, + { + "end_outermost_loop": 509, + "end_region_line": 513, + "line": " msg = msg + 'For more details, see https://forum.hello-robot.com/t/476\\n'\n", + "lineno": 509, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 509, + "start_region_line": 489 + }, + { + "end_outermost_loop": 510, + "end_region_line": 513, + "line": " msg=msg+'In method %s.%s'%(joint.name,method_name)\n", + "lineno": 510, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 510, + "start_region_line": 489 + }, + { + "end_outermost_loop": 511, + "end_region_line": 513, + "line": " print(msg)\n", + "lineno": 511, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 511, + "start_region_line": 489 + }, + { + "end_outermost_loop": 512, + "end_region_line": 513, + "line": " joint.logger.error(msg)\n", + "lineno": 512, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 512, + "start_region_line": 489 + }, + { + "end_outermost_loop": 513, + "end_region_line": 513, + "line": " sys.exit(1)\n", + "lineno": 513, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 513, + "start_region_line": 489 + }, + { + "end_outermost_loop": 514, + "end_region_line": 514, + "line": "\n", + "lineno": 514, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 514, + "start_region_line": 514 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": "def check_deprecated_contact_model_prismatic_joint(joint,method_name, contact_thresh_pos_N,contact_thresh_neg_N,contact_thresh_pos,contact_thresh_neg ):\n", + "lineno": 515, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 515 + }, + { + "end_outermost_loop": 516, + "end_region_line": 558, + "line": " \"\"\"\n", + "lineno": 516, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 516, + "start_region_line": 515 + }, + { + "end_outermost_loop": 517, + "end_region_line": 558, + "line": " With RE2 we are transitioning entire stretch fleet to use new API (and effort_pct for the contact model)\n", + "lineno": 517, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 517, + "start_region_line": 515 + }, + { + "end_outermost_loop": 518, + "end_region_line": 558, + "line": " Catch older code that is using the older API and require updating of code\n", + "lineno": 518, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 518, + "start_region_line": 515 + }, + { + "end_outermost_loop": 519, + "end_region_line": 558, + "line": " For code that was, for example:\n", + "lineno": 519, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 519, + "start_region_line": 515 + }, + { + "end_outermost_loop": 520, + "end_region_line": 558, + "line": " arm.move_to(x_m=0.1, contact_thresh_pos_N=30.0, contact_thresh_neg_N=-30.0)\n", + "lineno": 520, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 520, + "start_region_line": 515 + }, + { + "end_outermost_loop": 521, + "end_region_line": 558, + "line": " Should now be:\n", + "lineno": 521, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 521, + "start_region_line": 515 + }, + { + "end_outermost_loop": 522, + "end_region_line": 558, + "line": " arm.move_to(x_m=0.1, contact_thresh_pos=pseudo_N_to_effort_pct(30.0),\n", + "lineno": 522, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 522, + "start_region_line": 515 + }, + { + "end_outermost_loop": 523, + "end_region_line": 558, + "line": " contact_thresh_neg=pseudo_N_to_effort_pct(-30.0))\n", + "lineno": 523, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 523, + "start_region_line": 515 + }, + { + "end_outermost_loop": 524, + "end_region_line": 558, + "line": " \"\"\"\n", + "lineno": 524, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 524, + "start_region_line": 515 + }, + { + "end_outermost_loop": 525, + "end_region_line": 558, + "line": "\n", + "lineno": 525, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 525, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " #Check if old parameters still found in YAML\n", + "lineno": 526, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 515 + }, + { + "end_outermost_loop": 534, + "end_region_line": 558, + "line": " if ('contact_thresh_max_N' in joint.params) or ('contact_thresh_N' in joint.params) or ('homing_force_N' in joint.params):\n", + "lineno": 527, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 527, + "start_region_line": 515 + }, + { + "end_outermost_loop": 528, + "end_region_line": 558, + "line": " msg=\"Robot is using out-of-date contact parameters\\n\"\n", + "lineno": 528, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 528, + "start_region_line": 515 + }, + { + "end_outermost_loop": 529, + "end_region_line": 558, + "line": " msg=msg+'Please run tool RE1_migrate_contacts.py before continuing.\\n'\n", + "lineno": 529, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 529, + "start_region_line": 515 + }, + { + "end_outermost_loop": 530, + "end_region_line": 558, + "line": " msg=msg+'For more details, see https://forum.hello-robot.com/t/476 \\n'\n", + "lineno": 530, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 530, + "start_region_line": 515 + }, + { + "end_outermost_loop": 531, + "end_region_line": 558, + "line": " msg = msg + 'In method %s.%s' % (joint.name, method_name)\n", + "lineno": 531, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 531, + "start_region_line": 515 + }, + { + "end_outermost_loop": 532, + "end_region_line": 558, + "line": " print(msg)\n", + "lineno": 532, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 515 + }, + { + "end_outermost_loop": 533, + "end_region_line": 558, + "line": " joint.logger.error(msg)\n", + "lineno": 533, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 533, + "start_region_line": 515 + }, + { + "end_outermost_loop": 534, + "end_region_line": 558, + "line": " sys.exit(1)\n", + "lineno": 534, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 534, + "start_region_line": 515 + }, + { + "end_outermost_loop": 535, + "end_region_line": 558, + "line": "\n", + "lineno": 535, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 535, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " #Check if code is passing in old values\n", + "lineno": 536, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 515 + }, + { + "end_outermost_loop": 544, + "end_region_line": 558, + "line": " if contact_thresh_pos_N is not None or contact_thresh_neg_N is not None:\n", + "lineno": 537, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 537, + "start_region_line": 515 + }, + { + "end_outermost_loop": 538, + "end_region_line": 558, + "line": " msg='Use of parameters contact_thresh_pos_N and contact_thresh_neg_N is no longer supported\\n'\n", + "lineno": 538, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 538, + "start_region_line": 515 + }, + { + "end_outermost_loop": 539, + "end_region_line": 558, + "line": " msg= msg + 'Update your code to use (contact_thresh_pos, contact_thresh_neg)\\n'\n", + "lineno": 539, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 539, + "start_region_line": 515 + }, + { + "end_outermost_loop": 540, + "end_region_line": 558, + "line": " msg = msg + 'For more details, see https://forum.hello-robot.com/t/476\\n'\n", + "lineno": 540, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 540, + "start_region_line": 515 + }, + { + "end_outermost_loop": 541, + "end_region_line": 558, + "line": " msg=msg+'In method %s.%s'%(joint.name,method_name)\n", + "lineno": 541, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 541, + "start_region_line": 515 + }, + { + "end_outermost_loop": 542, + "end_region_line": 558, + "line": " print(msg)\n", + "lineno": 542, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 542, + "start_region_line": 515 + }, + { + "end_outermost_loop": 543, + "end_region_line": 558, + "line": " joint.logger.error(msg)\n", + "lineno": 543, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 543, + "start_region_line": 515 + }, + { + "end_outermost_loop": 544, + "end_region_line": 558, + "line": " sys.exit(1)\n", + "lineno": 544, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 544, + "start_region_line": 515 + }, + { + "end_outermost_loop": 545, + "end_region_line": 558, + "line": "\n", + "lineno": 545, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 545, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " #Check if code is passing in new values but not yet migrated\n", + "lineno": 546, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " if contact_thresh_pos is not None or contact_thresh_neg is not None \\\n", + "lineno": 547, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 547, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " or (contact_thresh_pos is None and contact_thresh_neg is None):\n", + "lineno": 548, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 547, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " if ('contact_models' not in joint.params) or ('effort_pct' not in joint.params['contact_models']) or\\\n", + "lineno": 549, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 549, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " ('contact_thresh_default' not in joint.params['contact_models']['effort_pct']) or\\\n", + "lineno": 550, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 549, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " ('contact_thresh_homing' not in joint.params['contact_models']['effort_pct']) :\n", + "lineno": 551, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 549, + "start_region_line": 515 + }, + { + "end_outermost_loop": 552, + "end_region_line": 558, + "line": " msg='Effort_Pct contact parameters not available\\n'\n", + "lineno": 552, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 552, + "start_region_line": 515 + }, + { + "end_outermost_loop": 553, + "end_region_line": 558, + "line": " msg = msg + 'Please run tool RE1_migrate_contacts.py before continuing.\\n'\n", + "lineno": 553, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 553, + "start_region_line": 515 + }, + { + "end_outermost_loop": 554, + "end_region_line": 558, + "line": " msg = msg + 'For more details, see https://forum.hello-robot.com/t/476 \\n'\n", + "lineno": 554, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 554, + "start_region_line": 515 + }, + { + "end_outermost_loop": 555, + "end_region_line": 558, + "line": " msg=msg+'In method %s.%s'%(joint.name,method_name)\n", + "lineno": 555, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 555, + "start_region_line": 515 + }, + { + "end_outermost_loop": 556, + "end_region_line": 558, + "line": " print(msg)\n", + "lineno": 556, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 556, + "start_region_line": 515 + }, + { + "end_outermost_loop": 557, + "end_region_line": 558, + "line": " joint.logger.error(msg)\n", + "lineno": 557, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 515 + }, + { + "end_outermost_loop": 558, + "end_region_line": 558, + "line": " sys.exit(1)\n", + "lineno": 558, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 558, + "start_region_line": 515 + }, + { + "end_outermost_loop": 559, + "end_region_line": 559, + "line": "\n", + "lineno": 559, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 559, + "start_region_line": 559 + }, + { + "end_outermost_loop": 565, + "end_region_line": 565, + "line": "def check_file_exists(fn):\n", + "lineno": 560, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 560, + "start_region_line": 560 + }, + { + "end_outermost_loop": 565, + "end_region_line": 565, + "line": " if os.path.exists(fn):\n", + "lineno": 561, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 561, + "start_region_line": 560 + }, + { + "end_outermost_loop": 562, + "end_region_line": 565, + "line": " return True\n", + "lineno": 562, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 562, + "start_region_line": 560 + }, + { + "end_outermost_loop": 565, + "end_region_line": 565, + "line": " else:\n", + "lineno": 563, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 561, + "start_region_line": 560 + }, + { + "end_outermost_loop": 564, + "end_region_line": 565, + "line": " print(f\"Unable to find file: {fn}\")\n", + "lineno": 564, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 564, + "start_region_line": 560 + }, + { + "end_outermost_loop": 565, + "end_region_line": 565, + "line": " return False\n", + "lineno": 565, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 560 + }, + { + "end_outermost_loop": 566, + "end_region_line": 566, + "line": "\n", + "lineno": 566, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 566, + "start_region_line": 566 + }, + { + "end_outermost_loop": 571, + "end_region_line": 571, + "line": "def to_parabola_transform(x):\n", + "lineno": 567, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 567, + "start_region_line": 567 + }, + { + "end_outermost_loop": 571, + "end_region_line": 571, + "line": " if x\\u003c0:\n", + "lineno": 568, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 568, + "start_region_line": 567 + }, + { + "end_outermost_loop": 569, + "end_region_line": 571, + "line": " return -1*(abs(x)**2)\n", + "lineno": 569, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 569, + "start_region_line": 567 + }, + { + "end_outermost_loop": 571, + "end_region_line": 571, + "line": " else:\n", + "lineno": 570, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 568, + "start_region_line": 567 + }, + { + "end_outermost_loop": 571, + "end_region_line": 571, + "line": " return x**2\n", + "lineno": 571, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 571, + "start_region_line": 567 + }, + { + "end_outermost_loop": 572, + "end_region_line": 572, + "line": "\n", + "lineno": 572, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 572, + "start_region_line": 572 + }, + { + "end_outermost_loop": 577, + "end_region_line": 577, + "line": "def map_to_range(value, new_min, new_max):\n", + "lineno": 573, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 573, + "start_region_line": 573 + }, + { + "end_outermost_loop": 577, + "end_region_line": 577, + "line": " # Ensure value is between 0 and 1\n", + "lineno": 574, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 573, + "start_region_line": 573 + }, + { + "end_outermost_loop": 575, + "end_region_line": 577, + "line": " value = max(0, min(1, value))\n", + "lineno": 575, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 575, + "start_region_line": 573 + }, + { + "end_outermost_loop": 576, + "end_region_line": 577, + "line": " mapped_value = (value - 0) * (new_max - new_min) / (1 - 0) + new_min\n", + "lineno": 576, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 576, + "start_region_line": 573 + }, + { + "end_outermost_loop": 577, + "end_region_line": 577, + "line": " return mapped_value\n", + "lineno": 577, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 577, + "start_region_line": 573 + }, + { + "end_outermost_loop": 578, + "end_region_line": 578, + "line": "\n", + "lineno": 578, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 578, + "start_region_line": 578 + }, + { + "end_outermost_loop": 603, + "end_region_line": 603, + "line": "def get_video_devices():\n", + "lineno": 579, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 579, + "start_region_line": 579 + }, + { + "end_outermost_loop": 580, + "end_region_line": 603, + "line": " \"\"\"\n", + "lineno": 580, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 580, + "start_region_line": 579 + }, + { + "end_outermost_loop": 581, + "end_region_line": 603, + "line": " Returns dictionary of all the enumerated video devices found in the robot \n", + "lineno": 581, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 581, + "start_region_line": 579 + }, + { + "end_outermost_loop": 582, + "end_region_line": 603, + "line": " \"\"\"\n", + "lineno": 582, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 582, + "start_region_line": 579 + }, + { + "end_outermost_loop": 583, + "end_region_line": 603, + "line": " command = 'v4l2-ctl --list-devices'\n", + "lineno": 583, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 583, + "start_region_line": 579 + }, + { + "end_outermost_loop": 584, + "end_region_line": 603, + "line": " lines = subprocess.getoutput(command).split('\\n')\n", + "lineno": 584, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 584, + "start_region_line": 579 + }, + { + "end_outermost_loop": 585, + "end_region_line": 603, + "line": " lines = [l.strip() for l in lines if l != '']\n", + "lineno": 585, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 585, + "start_region_line": 579 + }, + { + "end_outermost_loop": 586, + "end_region_line": 603, + "line": " cameras = [l for l in lines if not ('/dev/' in l)]\n", + "lineno": 586, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 586, + "start_region_line": 579 + }, + { + "end_outermost_loop": 587, + "end_region_line": 603, + "line": " devices = [l for l in lines if '/dev/' in l]\n", + "lineno": 587, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 587, + "start_region_line": 579 + }, + { + "end_outermost_loop": 588, + "end_region_line": 603, + "line": "\n", + "lineno": 588, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 588, + "start_region_line": 579 + }, + { + "end_outermost_loop": 589, + "end_region_line": 603, + "line": " all_camera_devices = {}\n", + "lineno": 589, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 589, + "start_region_line": 579 + }, + { + "end_outermost_loop": 590, + "end_region_line": 603, + "line": " camera_devices = []\n", + "lineno": 590, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 590, + "start_region_line": 579 + }, + { + "end_outermost_loop": 591, + "end_region_line": 603, + "line": " current_camera = None\n", + "lineno": 591, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 579 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " for line in lines:\n", + "lineno": 592, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " if line in cameras:\n", + "lineno": 593, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " if (current_camera is not None) and camera_devices:\n", + "lineno": 594, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " all_camera_devices[current_camera] = camera_devices\n", + "lineno": 595, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " camera_devices = []\n", + "lineno": 596, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " current_camera = line\n", + "lineno": 597, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " elif line in devices:\n", + "lineno": 598, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 599, + "end_region_line": 599, + "line": " camera_devices.append(line)\n", + "lineno": 599, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 592, + "start_region_line": 592 + }, + { + "end_outermost_loop": 601, + "end_region_line": 603, + "line": " if (current_camera is not None) and camera_devices:\n", + "lineno": 600, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 600, + "start_region_line": 579 + }, + { + "end_outermost_loop": 601, + "end_region_line": 603, + "line": " all_camera_devices[current_camera] = camera_devices\n", + "lineno": 601, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 601, + "start_region_line": 579 + }, + { + "end_outermost_loop": 602, + "end_region_line": 603, + "line": "\n", + "lineno": 602, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 602, + "start_region_line": 579 + }, + { + "end_outermost_loop": 603, + "end_region_line": 603, + "line": " return all_camera_devices\n", + "lineno": 603, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 603, + "start_region_line": 579 + }, + { + "end_outermost_loop": 604, + "end_region_line": 604, + "line": "\n", + "lineno": 604, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 604, + "start_region_line": 604 + }, + { + "end_outermost_loop": 619, + "end_region_line": 619, + "line": "def setup_realsense_camera(serial_number, color_size, depth_size, fps):\n", + "lineno": 605, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 605, + "start_region_line": 605 + }, + { + "end_outermost_loop": 606, + "end_region_line": 619, + "line": " \"\"\"\n", + "lineno": 606, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 606, + "start_region_line": 605 + }, + { + "end_outermost_loop": 607, + "end_region_line": 619, + "line": " Returns a Realsense camera pipeline used for accessing D435i \\u0026 D405's video streams\n", + "lineno": 607, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 607, + "start_region_line": 605 + }, + { + "end_outermost_loop": 608, + "end_region_line": 619, + "line": " \"\"\"\n", + "lineno": 608, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 608, + "start_region_line": 605 + }, + { + "end_outermost_loop": 609, + "end_region_line": 619, + "line": " pipeline = rs.pipeline()\n", + "lineno": 609, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 609, + "start_region_line": 605 + }, + { + "end_outermost_loop": 610, + "end_region_line": 619, + "line": " config = rs.config()\n", + "lineno": 610, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 610, + "start_region_line": 605 + }, + { + "end_outermost_loop": 611, + "end_region_line": 619, + "line": "\n", + "lineno": 611, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 611, + "start_region_line": 605 + }, + { + "end_outermost_loop": 613, + "end_region_line": 619, + "line": " if serial_number:\n", + "lineno": 612, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 612, + "start_region_line": 605 + }, + { + "end_outermost_loop": 613, + "end_region_line": 619, + "line": " config.enable_device(serial_number)\n", + "lineno": 613, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 613, + "start_region_line": 605 + }, + { + "end_outermost_loop": 614, + "end_region_line": 619, + "line": "\n", + "lineno": 614, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 614, + "start_region_line": 605 + }, + { + "end_outermost_loop": 615, + "end_region_line": 619, + "line": " config.enable_stream(rs.stream.color, color_size[0], color_size[1], rs.format.bgr8, fps)\n", + "lineno": 615, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 615, + "start_region_line": 605 + }, + { + "end_outermost_loop": 616, + "end_region_line": 619, + "line": " config.enable_stream(rs.stream.depth, depth_size[0], depth_size[1], rs.format.z16, fps)\n", + "lineno": 616, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 616, + "start_region_line": 605 + }, + { + "end_outermost_loop": 617, + "end_region_line": 619, + "line": "\n", + "lineno": 617, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 617, + "start_region_line": 605 + }, + { + "end_outermost_loop": 618, + "end_region_line": 619, + "line": " profile = pipeline.start(config)\n", + "lineno": 618, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 618, + "start_region_line": 605 + }, + { + "end_outermost_loop": 619, + "end_region_line": 619, + "line": " return pipeline\n", + "lineno": 619, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 619, + "start_region_line": 605 + }, + { + "end_outermost_loop": 620, + "end_region_line": 620, + "line": "\n", + "lineno": 620, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 620, + "start_region_line": 620 + }, + { + "end_outermost_loop": 634, + "end_region_line": 634, + "line": "def setup_uvc_camera(device_index, size=None, fps=None, format = None):\n", + "lineno": 621, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 621, + "start_region_line": 621 + }, + { + "end_outermost_loop": 622, + "end_region_line": 634, + "line": " \"\"\"\n", + "lineno": 622, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 622, + "start_region_line": 621 + }, + { + "end_outermost_loop": 623, + "end_region_line": 634, + "line": " Returns Opencv capture object of the UVC video divice\n", + "lineno": 623, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 621 + }, + { + "end_outermost_loop": 624, + "end_region_line": 634, + "line": " \"\"\"\n", + "lineno": 624, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 624, + "start_region_line": 621 + }, + { + "end_outermost_loop": 625, + "end_region_line": 634, + "line": " cap = cv2.VideoCapture(device_index)\n", + "lineno": 625, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 625, + "start_region_line": 621 + }, + { + "end_outermost_loop": 628, + "end_region_line": 634, + "line": " if format:\n", + "lineno": 626, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 626, + "start_region_line": 621 + }, + { + "end_outermost_loop": 627, + "end_region_line": 634, + "line": " fourcc_value = cv2.VideoWriter_fourcc(*f'{format}')\n", + "lineno": 627, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 627, + "start_region_line": 621 + }, + { + "end_outermost_loop": 628, + "end_region_line": 634, + "line": " cap.set(cv2.CAP_PROP_FOURCC, fourcc_value)\n", + "lineno": 628, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 628, + "start_region_line": 621 + }, + { + "end_outermost_loop": 631, + "end_region_line": 634, + "line": " if size:\n", + "lineno": 629, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 629, + "start_region_line": 621 + }, + { + "end_outermost_loop": 630, + "end_region_line": 634, + "line": " cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0])\n", + "lineno": 630, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 630, + "start_region_line": 621 + }, + { + "end_outermost_loop": 631, + "end_region_line": 634, + "line": " cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1])\n", + "lineno": 631, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 631, + "start_region_line": 621 + }, + { + "end_outermost_loop": 633, + "end_region_line": 634, + "line": " if fps:\n", + "lineno": 632, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 632, + "start_region_line": 621 + }, + { + "end_outermost_loop": 633, + "end_region_line": 634, + "line": " cap.set(cv2.CAP_PROP_FPS, fps)\n", + "lineno": 633, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 633, + "start_region_line": 621 + }, + { + "end_outermost_loop": 634, + "end_region_line": 634, + "line": " return cap\n", + "lineno": 634, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 634, + "start_region_line": 621 + }, + { + "end_outermost_loop": 635, + "end_region_line": 635, + "line": "\n", + "lineno": 635, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 635, + "start_region_line": 635 + }, + { + "end_outermost_loop": 648, + "end_region_line": 648, + "line": "def get_video_device_port(camera_name):\n", + "lineno": 636, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 636, + "start_region_line": 636 + }, + { + "end_outermost_loop": 637, + "end_region_line": 648, + "line": " \"\"\"\n", + "lineno": 637, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 637, + "start_region_line": 636 + }, + { + "end_outermost_loop": 638, + "end_region_line": 648, + "line": " Returns the video device port based on the given camera name match\n", + "lineno": 638, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 638, + "start_region_line": 636 + }, + { + "end_outermost_loop": 639, + "end_region_line": 648, + "line": " \"\"\"\n", + "lineno": 639, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 639, + "start_region_line": 636 + }, + { + "end_outermost_loop": 640, + "end_region_line": 648, + "line": " camera_devices = get_video_devices()\n", + "lineno": 640, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 640, + "start_region_line": 636 + }, + { + "end_outermost_loop": 641, + "end_region_line": 648, + "line": " camera_device = None\n", + "lineno": 641, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 641, + "start_region_line": 636 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " for k,v in camera_devices.items():\n", + "lineno": 642, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 642 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " if camera_name in k:\n", + "lineno": 643, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 642 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " camera_device = v[0]\n", + "lineno": 644, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 642 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " print(f\"Found Camera={k} at port={camera_device} \")\n", + "lineno": 645, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 642 + }, + { + "end_outermost_loop": 646, + "end_region_line": 646, + "line": " return camera_device\n", + "lineno": 646, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 642 + }, + { + "end_outermost_loop": 647, + "end_region_line": 648, + "line": " print('ERROR: Did not find the specified camera_name = ' + str(camera_name))\n", + "lineno": 647, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 647, + "start_region_line": 636 + }, + { + "end_outermost_loop": 648, + "end_region_line": 648, + "line": " return camera_device", + "lineno": 648, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 648, + "start_region_line": 636 + } + ], + "percent_cpu_time": 0.0 + }, + "/home/hello-robot/repos/stretch_body/body/stretch_body/robot_collision.py": { + "functions": [], + "imports": [ + "import numpy as np", + "import time", + "import threading", + "import chime", + "import random", + "import signal" + ], + "leaks": {}, + "lines": [ + { + "end_outermost_loop": 1, + "end_region_line": 1, + "line": "#! /usr/bin/env python\n", + "lineno": 1, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1, + "start_region_line": 1 + }, + { + "end_outermost_loop": 2, + "end_region_line": 2, + "line": "\n", + "lineno": 2, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 2, + "start_region_line": 2 + }, + { + "end_outermost_loop": 3, + "end_region_line": 3, + "line": "from stretch_body.device import Device\n", + "lineno": 3, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 3, + "start_region_line": 3 + }, + { + "end_outermost_loop": 4, + "end_region_line": 4, + "line": "import urchin as urdf_loader\n", + "lineno": 4, + "memory_samples": [ + [ + 889626981, + 20.2229585647583 + ], + [ + 1035184185, + 30.317264556884766 + ], + [ + 1238993851, + 40.41176986694336 + ] + ], + "n_avg_mb": 0.0, + "n_copy_mb_s": 460.97560396455555, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 30.000483512878418, + "n_malloc_mb": 30.000483512878418, + "n_mallocs": 0, + "n_peak_mb": 30.000483512878418, + "n_python_fraction": 0.986854335005924, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.599563241008711, + "start_outermost_loop": 4, + "start_region_line": 4 + }, + { + "end_outermost_loop": 5, + "end_region_line": 5, + "line": "import meshio\n", + "lineno": 5, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 5, + "start_region_line": 5 + }, + { + "end_outermost_loop": 6, + "end_region_line": 6, + "line": "import numpy as np\n", + "lineno": 6, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 6, + "start_region_line": 6 + }, + { + "end_outermost_loop": 7, + "end_region_line": 7, + "line": "import time\n", + "lineno": 7, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 7, + "start_region_line": 7 + }, + { + "end_outermost_loop": 8, + "end_region_line": 8, + "line": "import threading\n", + "lineno": 8, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 8, + "start_region_line": 8 + }, + { + "end_outermost_loop": 9, + "end_region_line": 9, + "line": "import chime\n", + "lineno": 9, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 9, + "start_region_line": 9 + }, + { + "end_outermost_loop": 10, + "end_region_line": 10, + "line": "import random\n", + "lineno": 10, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 10, + "start_region_line": 10 + }, + { + "end_outermost_loop": 11, + "end_region_line": 11, + "line": "from stretch_body.robot_params import RobotParams\n", + "lineno": 11, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 11, + "start_region_line": 11 + }, + { + "end_outermost_loop": 12, + "end_region_line": 12, + "line": "import multiprocessing\n", + "lineno": 12, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 12, + "start_region_line": 12 + }, + { + "end_outermost_loop": 13, + "end_region_line": 13, + "line": "import signal\n", + "lineno": 13, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 13, + "start_region_line": 13 + }, + { + "end_outermost_loop": 14, + "end_region_line": 14, + "line": "import ctypes\n", + "lineno": 14, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 14, + "start_region_line": 14 + }, + { + "end_outermost_loop": 15, + "end_region_line": 15, + "line": "\n", + "lineno": 15, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 15, + "start_region_line": 15 + }, + { + "end_outermost_loop": 16, + "end_region_line": 16, + "line": "try:\n", + "lineno": 16, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 16, + "start_region_line": 16 + }, + { + "end_outermost_loop": 17, + "end_region_line": 17, + "line": " # works on ubunut 22.04\n", + "lineno": 17, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 17, + "start_region_line": 17 + }, + { + "end_outermost_loop": 18, + "end_region_line": 18, + "line": " import importlib.resources as importlib_resources\n", + "lineno": 18, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 18, + "start_region_line": 18 + }, + { + "end_outermost_loop": 19, + "end_region_line": 19, + "line": " str(importlib_resources.files(\"stretch_body\"))\n", + "lineno": 19, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 19, + "start_region_line": 19 + }, + { + "end_outermost_loop": 20, + "end_region_line": 20, + "line": "except AttributeError as e:\n", + "lineno": 20, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 20, + "start_region_line": 20 + }, + { + "end_outermost_loop": 21, + "end_region_line": 21, + "line": " # works on ubuntu 20.04\n", + "lineno": 21, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 21, + "start_region_line": 21 + }, + { + "end_outermost_loop": 22, + "end_region_line": 22, + "line": " import importlib_resources\n", + "lineno": 22, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 22, + "start_region_line": 22 + }, + { + "end_outermost_loop": 23, + "end_region_line": 23, + "line": " str(importlib_resources.files(\"stretch_body\"))\n", + "lineno": 23, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 23, + "start_region_line": 23 + }, + { + "end_outermost_loop": 24, + "end_region_line": 24, + "line": "\n", + "lineno": 24, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 24, + "start_region_line": 24 + }, + { + "end_outermost_loop": 25, + "end_region_line": 25, + "line": "# #######################################################################\n", + "lineno": 25, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 25, + "start_region_line": 25 + }, + { + "end_outermost_loop": 26, + "end_region_line": 26, + "line": "\n", + "lineno": 26, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 26, + "start_region_line": 26 + }, + { + "end_outermost_loop": 62, + "end_region_line": 62, + "line": "def line_box_sat_intersection(line_point1, line_point2, aabb_min, aabb_max):\n", + "lineno": 27, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 27, + "start_region_line": 27 + }, + { + "end_outermost_loop": 28, + "end_region_line": 62, + "line": " \"\"\"\n", + "lineno": 28, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 28, + "start_region_line": 27 + }, + { + "end_outermost_loop": 29, + "end_region_line": 62, + "line": " Checks if a line segment intersects an AABB using the Separating Axis Theorem (SAT).\n", + "lineno": 29, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 29, + "start_region_line": 27 + }, + { + "end_outermost_loop": 30, + "end_region_line": 62, + "line": "\n", + "lineno": 30, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 30, + "start_region_line": 27 + }, + { + "end_outermost_loop": 31, + "end_region_line": 62, + "line": " Args:\n", + "lineno": 31, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 31, + "start_region_line": 27 + }, + { + "end_outermost_loop": 32, + "end_region_line": 62, + "line": " line_point1: np.array of shape (3,). First point of the line segment.\n", + "lineno": 32, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 32, + "start_region_line": 27 + }, + { + "end_outermost_loop": 33, + "end_region_line": 62, + "line": " line_point2: np.array of shape (3,). Second point of the line segment.\n", + "lineno": 33, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 33, + "start_region_line": 27 + }, + { + "end_outermost_loop": 34, + "end_region_line": 62, + "line": " aabb_min: np.array of shape (3,). Minimum corner of the AABB.\n", + "lineno": 34, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 34, + "start_region_line": 27 + }, + { + "end_outermost_loop": 35, + "end_region_line": 62, + "line": " aabb_max: np.array of shape (3,). Maximum corner of the AABB.\n", + "lineno": 35, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 35, + "start_region_line": 27 + }, + { + "end_outermost_loop": 36, + "end_region_line": 62, + "line": "\n", + "lineno": 36, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 36, + "start_region_line": 27 + }, + { + "end_outermost_loop": 37, + "end_region_line": 62, + "line": " Returns:\n", + "lineno": 37, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 37, + "start_region_line": 27 + }, + { + "end_outermost_loop": 38, + "end_region_line": 62, + "line": " bool: True if the line intersects the AABB, False otherwise.\n", + "lineno": 38, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 38, + "start_region_line": 27 + }, + { + "end_outermost_loop": 39, + "end_region_line": 62, + "line": " \"\"\"\n", + "lineno": 39, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 39, + "start_region_line": 27 + }, + { + "end_outermost_loop": 40, + "end_region_line": 62, + "line": "\n", + "lineno": 40, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 40, + "start_region_line": 27 + }, + { + "end_outermost_loop": 41, + "end_region_line": 62, + "line": " line_dir = line_point2 - line_point1\n", + "lineno": 41, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 41, + "start_region_line": 27 + }, + { + "end_outermost_loop": 42, + "end_region_line": 62, + "line": "\n", + "lineno": 42, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 42, + "start_region_line": 27 + }, + { + "end_outermost_loop": 62, + "end_region_line": 62, + "line": " # Check separating axes along AABB's edges\n", + "lineno": 43, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 27, + "start_region_line": 27 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " for i in range(3):\n", + "lineno": 44, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " # Project line segment onto axis\n", + "lineno": 45, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " line_proj = np.dot(line_point1, np.eye(3)[i]) + np.dot(line_dir, np.eye(3)[i])\n", + "lineno": 46, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " aabb_proj = np.array([aabb_min[i], aabb_max[i]])\n", + "lineno": 47, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": "\n", + "lineno": 48, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " # Check for overlap\n", + "lineno": 49, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " if not (np.min(line_proj) \\u003c= np.max(aabb_proj) and np.max(line_proj) \\u003e= np.min(aabb_proj)):\n", + "lineno": 50, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 51, + "end_region_line": 51, + "line": " return False # No overlap on this axis\n", + "lineno": 51, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 44, + "start_region_line": 44 + }, + { + "end_outermost_loop": 52, + "end_region_line": 62, + "line": "\n", + "lineno": 52, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 52, + "start_region_line": 27 + }, + { + "end_outermost_loop": 62, + "end_region_line": 62, + "line": " # Check separating axes along line direction\n", + "lineno": 53, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 27, + "start_region_line": 27 + }, + { + "end_outermost_loop": 54, + "end_region_line": 62, + "line": " line_axis = line_dir / np.linalg.norm(line_dir)\n", + "lineno": 54, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 54, + "start_region_line": 27 + }, + { + "end_outermost_loop": 55, + "end_region_line": 62, + "line": " aabb_proj = np.dot(aabb_min, line_axis), np.dot(aabb_max, line_axis)\n", + "lineno": 55, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 55, + "start_region_line": 27 + }, + { + "end_outermost_loop": 56, + "end_region_line": 62, + "line": " line_proj = np.dot(line_point1, line_axis), np.dot(line_point1 + line_dir, line_axis)\n", + "lineno": 56, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 56, + "start_region_line": 27 + }, + { + "end_outermost_loop": 57, + "end_region_line": 62, + "line": "\n", + "lineno": 57, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 57, + "start_region_line": 27 + }, + { + "end_outermost_loop": 62, + "end_region_line": 62, + "line": " # Check for overlap\n", + "lineno": 58, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 27, + "start_region_line": 27 + }, + { + "end_outermost_loop": 60, + "end_region_line": 62, + "line": " if not (np.min(line_proj) \\u003c= np.max(aabb_proj) and np.max(line_proj) \\u003e= np.min(aabb_proj)):\n", + "lineno": 59, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 59, + "start_region_line": 27 + }, + { + "end_outermost_loop": 60, + "end_region_line": 62, + "line": " return False # No overlap on the line axis\n", + "lineno": 60, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 60, + "start_region_line": 27 + }, + { + "end_outermost_loop": 61, + "end_region_line": 62, + "line": "\n", + "lineno": 61, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 61, + "start_region_line": 27 + }, + { + "end_outermost_loop": 62, + "end_region_line": 62, + "line": " return True # No separating axis found, intersection exists\n", + "lineno": 62, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 62, + "start_region_line": 27 + }, + { + "end_outermost_loop": 63, + "end_region_line": 63, + "line": "\n", + "lineno": 63, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 63, + "start_region_line": 63 + }, + { + "end_outermost_loop": 64, + "end_region_line": 64, + "line": "\n", + "lineno": 64, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 64, + "start_region_line": 64 + }, + { + "end_outermost_loop": 88, + "end_region_line": 88, + "line": "def check_pts_in_AABB_cube(cube, pts):\n", + "lineno": 65, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 65, + "start_region_line": 65 + }, + { + "end_outermost_loop": 66, + "end_region_line": 88, + "line": " \"\"\"\n", + "lineno": 66, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 66, + "start_region_line": 65 + }, + { + "end_outermost_loop": 67, + "end_region_line": 88, + "line": " Check if any of the 'points lie inside the cube\n", + "lineno": 67, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 67, + "start_region_line": 65 + }, + { + "end_outermost_loop": 68, + "end_region_line": 88, + "line": " Parameters\n", + "lineno": 68, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 68, + "start_region_line": 65 + }, + { + "end_outermost_loop": 69, + "end_region_line": 88, + "line": " ----------\n", + "lineno": 69, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 69, + "start_region_line": 65 + }, + { + "end_outermost_loop": 70, + "end_region_line": 88, + "line": " cube: Array of points of cube (8x4)\n", + "lineno": 70, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 70, + "start_region_line": 65 + }, + { + "end_outermost_loop": 71, + "end_region_line": 88, + "line": " pts: Array of points to check\n", + "lineno": 71, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 71, + "start_region_line": 65 + }, + { + "end_outermost_loop": 72, + "end_region_line": 88, + "line": "\n", + "lineno": 72, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 72, + "start_region_line": 65 + }, + { + "end_outermost_loop": 73, + "end_region_line": 88, + "line": " Returns\n", + "lineno": 73, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 73, + "start_region_line": 65 + }, + { + "end_outermost_loop": 74, + "end_region_line": 88, + "line": " -------\n", + "lineno": 74, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 74, + "start_region_line": 65 + }, + { + "end_outermost_loop": 75, + "end_region_line": 88, + "line": " True/False\n", + "lineno": 75, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 75, + "start_region_line": 65 + }, + { + "end_outermost_loop": 76, + "end_region_line": 88, + "line": " \"\"\"\n", + "lineno": 76, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 76, + "start_region_line": 65 + }, + { + "end_outermost_loop": 77, + "end_region_line": 88, + "line": " xmax = max(cube[:, 0])\n", + "lineno": 77, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 77, + "start_region_line": 65 + }, + { + "end_outermost_loop": 78, + "end_region_line": 88, + "line": " xmin = min(cube[:, 0])\n", + "lineno": 78, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 78, + "start_region_line": 65 + }, + { + "end_outermost_loop": 79, + "end_region_line": 88, + "line": " ymax = max(cube[:, 1])\n", + "lineno": 79, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 79, + "start_region_line": 65 + }, + { + "end_outermost_loop": 80, + "end_region_line": 88, + "line": " ymin = min(cube[:, 1])\n", + "lineno": 80, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 80, + "start_region_line": 65 + }, + { + "end_outermost_loop": 81, + "end_region_line": 88, + "line": " zmax = max(cube[:, 2])\n", + "lineno": 81, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 81, + "start_region_line": 65 + }, + { + "end_outermost_loop": 82, + "end_region_line": 88, + "line": " zmin = min(cube[:, 2])\n", + "lineno": 82, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 82, + "start_region_line": 65 + }, + { + "end_outermost_loop": 83, + "end_region_line": 88, + "line": "\n", + "lineno": 83, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 83, + "start_region_line": 65 + }, + { + "end_outermost_loop": 87, + "end_region_line": 87, + "line": " for p in pts:\n", + "lineno": 84, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 84, + "start_region_line": 84 + }, + { + "end_outermost_loop": 87, + "end_region_line": 87, + "line": " inside = p[0] \\u003c= xmax and p[0] \\u003e= xmin and p[1] \\u003c= ymax and p[1] \\u003e= ymin and p[2] \\u003c= zmax and p[2] \\u003e= zmin\n", + "lineno": 85, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 84, + "start_region_line": 84 + }, + { + "end_outermost_loop": 87, + "end_region_line": 87, + "line": " if inside:\n", + "lineno": 86, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 84, + "start_region_line": 84 + }, + { + "end_outermost_loop": 87, + "end_region_line": 87, + "line": " return True\n", + "lineno": 87, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 84, + "start_region_line": 84 + }, + { + "end_outermost_loop": 88, + "end_region_line": 88, + "line": " return False\n", + "lineno": 88, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 88, + "start_region_line": 65 + }, + { + "end_outermost_loop": 89, + "end_region_line": 89, + "line": "\n", + "lineno": 89, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 89, + "start_region_line": 89 + }, + { + "end_outermost_loop": 112, + "end_region_line": 112, + "line": "def check_AABB_in_AABB_from_pts(pts1, pts2):\n", + "lineno": 90, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 90, + "start_region_line": 90 + }, + { + "end_outermost_loop": 91, + "end_region_line": 112, + "line": " \"\"\"\n", + "lineno": 91, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 91, + "start_region_line": 90 + }, + { + "end_outermost_loop": 92, + "end_region_line": 112, + "line": " Check if an AABB intersects another AABB from the given two sets of points\n", + "lineno": 92, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 92, + "start_region_line": 90 + }, + { + "end_outermost_loop": 93, + "end_region_line": 112, + "line": " \"\"\"\n", + "lineno": 93, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 93, + "start_region_line": 90 + }, + { + "end_outermost_loop": 94, + "end_region_line": 112, + "line": " xmax_1 = max(pts1[:, 0])\n", + "lineno": 94, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 94, + "start_region_line": 90 + }, + { + "end_outermost_loop": 95, + "end_region_line": 112, + "line": " xmin_1 = min(pts1[:, 0])\n", + "lineno": 95, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 95, + "start_region_line": 90 + }, + { + "end_outermost_loop": 96, + "end_region_line": 112, + "line": " ymax_1 = max(pts1[:, 1])\n", + "lineno": 96, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 96, + "start_region_line": 90 + }, + { + "end_outermost_loop": 97, + "end_region_line": 112, + "line": " ymin_1 = min(pts1[:, 1])\n", + "lineno": 97, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 97, + "start_region_line": 90 + }, + { + "end_outermost_loop": 98, + "end_region_line": 112, + "line": " zmax_1 = max(pts1[:, 2])\n", + "lineno": 98, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 98, + "start_region_line": 90 + }, + { + "end_outermost_loop": 99, + "end_region_line": 112, + "line": " zmin_1 = min(pts1[:, 2])\n", + "lineno": 99, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 99, + "start_region_line": 90 + }, + { + "end_outermost_loop": 100, + "end_region_line": 112, + "line": "\n", + "lineno": 100, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 100, + "start_region_line": 90 + }, + { + "end_outermost_loop": 101, + "end_region_line": 112, + "line": " xmax_2 = max(pts2[:, 0])\n", + "lineno": 101, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 101, + "start_region_line": 90 + }, + { + "end_outermost_loop": 102, + "end_region_line": 112, + "line": " xmin_2 = min(pts2[:, 0])\n", + "lineno": 102, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 102, + "start_region_line": 90 + }, + { + "end_outermost_loop": 103, + "end_region_line": 112, + "line": " ymax_2 = max(pts2[:, 1])\n", + "lineno": 103, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 103, + "start_region_line": 90 + }, + { + "end_outermost_loop": 104, + "end_region_line": 112, + "line": " ymin_2 = min(pts2[:, 1])\n", + "lineno": 104, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 104, + "start_region_line": 90 + }, + { + "end_outermost_loop": 105, + "end_region_line": 112, + "line": " zmax_2 = max(pts2[:, 2])\n", + "lineno": 105, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 105, + "start_region_line": 90 + }, + { + "end_outermost_loop": 106, + "end_region_line": 112, + "line": " zmin_2 = min(pts2[:, 2])\n", + "lineno": 106, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 106, + "start_region_line": 90 + }, + { + "end_outermost_loop": 107, + "end_region_line": 112, + "line": "\n", + "lineno": 107, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 107, + "start_region_line": 90 + }, + { + "end_outermost_loop": 108, + "end_region_line": 112, + "line": " cx = xmin_1\\u003c=xmax_2 and xmax_1\\u003e=xmin_2\n", + "lineno": 108, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 108, + "start_region_line": 90 + }, + { + "end_outermost_loop": 109, + "end_region_line": 112, + "line": " cy = ymin_1\\u003c=ymax_2 and ymax_1\\u003e=ymin_2\n", + "lineno": 109, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 109, + "start_region_line": 90 + }, + { + "end_outermost_loop": 110, + "end_region_line": 112, + "line": " cz = zmin_1\\u003c=zmax_2 and zmax_1\\u003e=zmin_2\n", + "lineno": 110, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 110, + "start_region_line": 90 + }, + { + "end_outermost_loop": 111, + "end_region_line": 112, + "line": " \n", + "lineno": 111, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 111, + "start_region_line": 90 + }, + { + "end_outermost_loop": 112, + "end_region_line": 112, + "line": " return cx and cy and cz\n", + "lineno": 112, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 112, + "start_region_line": 90 + }, + { + "end_outermost_loop": 113, + "end_region_line": 113, + "line": "\n", + "lineno": 113, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 113, + "start_region_line": 113 + }, + { + "end_outermost_loop": 114, + "end_region_line": 114, + "line": "\n", + "lineno": 114, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 114, + "start_region_line": 114 + }, + { + "end_outermost_loop": 135, + "end_region_line": 135, + "line": "def check_mesh_triangle_edges_in_cube(mesh_triangles,cube):\n", + "lineno": 115, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 115, + "start_region_line": 115 + }, + { + "end_outermost_loop": 135, + "end_region_line": 135, + "line": " # Check a set of mesh's triangles intersect an AABB cube\n", + "lineno": 116, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 115, + "start_region_line": 115 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " while len(mesh_triangles):\n", + "lineno": 117, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " # choose a random triangle indices\n", + "lineno": 118, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " random_index = random.randint(0, len(mesh_triangles) - 1)\n", + "lineno": 119, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " points = mesh_triangles[random_index]\n", + "lineno": 120, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " mesh_triangles.pop(random_index)\n", + "lineno": 121, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": "\n", + "lineno": 122, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " # Three triangle sides\n", + "lineno": 123, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " set_1 = [points[0],points[1]]\n", + "lineno": 124, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " set_2 = [points[0],points[2]]\n", + "lineno": 125, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " set_3 = [points[1],points[2]]\n", + "lineno": 126, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": "\n", + "lineno": 127, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " # Sample three equilinear points on each side and test for AABB intersection\n", + "lineno": 128, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 117 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " for set in [set_1,set_2,set_3]:\n", + "lineno": 129, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 129 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " mid = np.add(set[0], set[1])/2\n", + "lineno": 130, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 129 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " mid1 = np.add(mid, set[0])/2\n", + "lineno": 131, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 129 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " mid2 = np.add(mid, set[1])/2\n", + "lineno": 132, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 129 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]):\n", + "lineno": 133, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 129 + }, + { + "end_outermost_loop": 134, + "end_region_line": 134, + "line": " return True\n", + "lineno": 134, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 117, + "start_region_line": 129 + }, + { + "end_outermost_loop": 135, + "end_region_line": 135, + "line": " return False\n", + "lineno": 135, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 135, + "start_region_line": 115 + }, + { + "end_outermost_loop": 136, + "end_region_line": 136, + "line": "\n", + "lineno": 136, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 136, + "start_region_line": 136 + }, + { + "end_outermost_loop": 137, + "end_region_line": 137, + "line": "# def check_mesh_triangle_edges_in_cube(mesh_triangles,cube):\n", + "lineno": 137, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 137, + "start_region_line": 137 + }, + { + "end_outermost_loop": 138, + "end_region_line": 138, + "line": "# for points in mesh_triangles:\n", + "lineno": 138, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 138, + "start_region_line": 138 + }, + { + "end_outermost_loop": 139, + "end_region_line": 139, + "line": "# set_1 = [points[0],points[1]]\n", + "lineno": 139, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 139, + "start_region_line": 139 + }, + { + "end_outermost_loop": 140, + "end_region_line": 140, + "line": "# set_2 = [points[0],points[2]]\n", + "lineno": 140, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 140, + "start_region_line": 140 + }, + { + "end_outermost_loop": 141, + "end_region_line": 141, + "line": "# set_3 = [points[1],points[2]]\n", + "lineno": 141, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 141, + "start_region_line": 141 + }, + { + "end_outermost_loop": 142, + "end_region_line": 142, + "line": "# for set in [set_1,set_2,set_3]:\n", + "lineno": 142, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 142, + "start_region_line": 142 + }, + { + "end_outermost_loop": 143, + "end_region_line": 143, + "line": "# mid = np.add(set[0],set[1])/2\n", + "lineno": 143, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 143, + "start_region_line": 143 + }, + { + "end_outermost_loop": 144, + "end_region_line": 144, + "line": "# if check_pts_in_AABB_cube(cube,[mid]):\n", + "lineno": 144, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 144, + "start_region_line": 144 + }, + { + "end_outermost_loop": 145, + "end_region_line": 145, + "line": "# return True\n", + "lineno": 145, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 145, + "start_region_line": 145 + }, + { + "end_outermost_loop": 146, + "end_region_line": 146, + "line": "# mid1 = np.add(mid, set[0])/2\n", + "lineno": 146, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 146, + "start_region_line": 146 + }, + { + "end_outermost_loop": 147, + "end_region_line": 147, + "line": "# if check_pts_in_AABB_cube(cube,[mid1]):\n", + "lineno": 147, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 147, + "start_region_line": 147 + }, + { + "end_outermost_loop": 148, + "end_region_line": 148, + "line": "# return True\n", + "lineno": 148, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 148, + "start_region_line": 148 + }, + { + "end_outermost_loop": 149, + "end_region_line": 149, + "line": "# mid2 = np.add(mid, set[1])/2\n", + "lineno": 149, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 149, + "start_region_line": 149 + }, + { + "end_outermost_loop": 150, + "end_region_line": 150, + "line": "# if check_pts_in_AABB_cube(cube,[mid2]):\n", + "lineno": 150, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 150, + "start_region_line": 150 + }, + { + "end_outermost_loop": 151, + "end_region_line": 151, + "line": "# return True\n", + "lineno": 151, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 151, + "start_region_line": 151 + }, + { + "end_outermost_loop": 152, + "end_region_line": 152, + "line": "# return False\n", + "lineno": 152, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 152, + "start_region_line": 152 + }, + { + "end_outermost_loop": 153, + "end_region_line": 153, + "line": "\n", + "lineno": 153, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 153, + "start_region_line": 153 + }, + { + "end_outermost_loop": 154, + "end_region_line": 154, + "line": "\n", + "lineno": 154, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 154, + "start_region_line": 154 + }, + { + "end_outermost_loop": 172, + "end_region_line": 172, + "line": "def check_ppd_edges_in_cube(cube,cube_edge,edge_indices):\n", + "lineno": 155, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 155, + "start_region_line": 155 + }, + { + "end_outermost_loop": 158, + "end_region_line": 172, + "line": " if len(edge_indices)!=12:\n", + "lineno": 156, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 156, + "start_region_line": 155 + }, + { + "end_outermost_loop": 157, + "end_region_line": 172, + "line": " print('Invalid PPD provided to check_ppd_edges_in_cube')\n", + "lineno": 157, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 157, + "start_region_line": 155 + }, + { + "end_outermost_loop": 158, + "end_region_line": 172, + "line": " return False\n", + "lineno": 158, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 158, + "start_region_line": 155 + }, + { + "end_outermost_loop": 159, + "end_region_line": 172, + "line": " aabb_min=np.array([min(cube[:, 0]),min(cube[:, 1]),min(cube[:, 2])],dtype=np.float32)\n", + "lineno": 159, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 159, + "start_region_line": 155 + }, + { + "end_outermost_loop": 160, + "end_region_line": 172, + "line": " aabb_max = np.array([max(cube[:, 0]),max(cube[:, 1]),max(cube[:, 2])],dtype=np.float32)\n", + "lineno": 160, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 160, + "start_region_line": 155 + }, + { + "end_outermost_loop": 161, + "end_region_line": 172, + "line": " print('EE',cube_edge)\n", + "lineno": 161, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 161, + "start_region_line": 155 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " for ei in edge_indices:\n", + "lineno": 162, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " e0=cube_edge[ei][0][0:3]\n", + "lineno": 163, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " e1=cube_edge[ei][1][0:3]\n", + "lineno": 164, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " print('----',ei)\n", + "lineno": 165, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " print('e0',e0)\n", + "lineno": 166, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " print('e1', e1)\n", + "lineno": 167, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " print('aabb_min', aabb_min)\n", + "lineno": 168, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " print('aabb_max', aabb_max)\n", + "lineno": 169, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " if line_box_sat_intersection(e0,e1, aabb_min, aabb_max):\n", + "lineno": 170, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 171, + "end_region_line": 171, + "line": " return True\n", + "lineno": 171, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 162, + "start_region_line": 162 + }, + { + "end_outermost_loop": 172, + "end_region_line": 172, + "line": " return False\n", + "lineno": 172, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 172, + "start_region_line": 155 + }, + { + "end_outermost_loop": 173, + "end_region_line": 173, + "line": "\n", + "lineno": 173, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 173, + "start_region_line": 173 + }, + { + "end_outermost_loop": 188, + "end_region_line": 188, + "line": "def closest_pair_3d(points1, points2):\n", + "lineno": 174, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 174, + "start_region_line": 174 + }, + { + "end_outermost_loop": 175, + "end_region_line": 188, + "line": " \"\"\"\n", + "lineno": 175, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 175, + "start_region_line": 174 + }, + { + "end_outermost_loop": 176, + "end_region_line": 188, + "line": " Find the closest pair of 3D points from two lists of 3D points.\n", + "lineno": 176, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 176, + "start_region_line": 174 + }, + { + "end_outermost_loop": 177, + "end_region_line": 188, + "line": " \"\"\"\n", + "lineno": 177, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 177, + "start_region_line": 174 + }, + { + "end_outermost_loop": 178, + "end_region_line": 188, + "line": " closest_distance = float('inf')\n", + "lineno": 178, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 178, + "start_region_line": 174 + }, + { + "end_outermost_loop": 179, + "end_region_line": 188, + "line": " closest_pair = None\n", + "lineno": 179, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 179, + "start_region_line": 174 + }, + { + "end_outermost_loop": 180, + "end_region_line": 188, + "line": " \n", + "lineno": 180, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 180, + "start_region_line": 174 + }, + { + "end_outermost_loop": 186, + "end_region_line": 186, + "line": " for p1 in points1:\n", + "lineno": 181, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 181 + }, + { + "end_outermost_loop": 186, + "end_region_line": 186, + "line": " for p2 in points2:\n", + "lineno": 182, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 182 + }, + { + "end_outermost_loop": 186, + "end_region_line": 186, + "line": " dist = np.linalg.norm(p1-p2)\n", + "lineno": 183, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 182 + }, + { + "end_outermost_loop": 186, + "end_region_line": 186, + "line": " if dist \\u003c closest_distance:\n", + "lineno": 184, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 182 + }, + { + "end_outermost_loop": 186, + "end_region_line": 186, + "line": " closest_distance = dist\n", + "lineno": 185, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 182 + }, + { + "end_outermost_loop": 186, + "end_region_line": 186, + "line": " closest_pair = (p1, p2)\n", + "lineno": 186, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 181, + "start_region_line": 182 + }, + { + "end_outermost_loop": 187, + "end_region_line": 188, + "line": " \n", + "lineno": 187, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 187, + "start_region_line": 174 + }, + { + "end_outermost_loop": 188, + "end_region_line": 188, + "line": " return closest_pair, closest_distance\n", + "lineno": 188, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 188, + "start_region_line": 174 + }, + { + "end_outermost_loop": 189, + "end_region_line": 189, + "line": " \n", + "lineno": 189, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 189, + "start_region_line": 189 + }, + { + "end_outermost_loop": 190, + "end_region_line": 190, + "line": "# #######################################################################\n", + "lineno": 190, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 190, + "start_region_line": 190 + }, + { + "end_outermost_loop": 191, + "end_region_line": 191, + "line": "\n", + "lineno": 191, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 191, + "start_region_line": 191 + }, + { + "end_outermost_loop": 295, + "end_region_line": 295, + "line": "class CollisionLink:\n", + "lineno": 192, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 192, + "start_region_line": 192 + }, + { + "end_outermost_loop": 208, + "end_region_line": 208, + "line": " def __init__(self,link_name,urdf,mesh_path,max_mesh_points):\n", + "lineno": 193, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 193, + "start_region_line": 193 + }, + { + "end_outermost_loop": 194, + "end_region_line": 208, + "line": " self.name=link_name\n", + "lineno": 194, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 194, + "start_region_line": 193 + }, + { + "end_outermost_loop": 195, + "end_region_line": 208, + "line": " self.link = urdf.link_map[link_name]\n", + "lineno": 195, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 195, + "start_region_line": 193 + }, + { + "end_outermost_loop": 196, + "end_region_line": 208, + "line": " stl_filename = str(mesh_path) + self.link.collisions[0].geometry.mesh.filename[1:]\n", + "lineno": 196, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 196, + "start_region_line": 193 + }, + { + "end_outermost_loop": 197, + "end_region_line": 208, + "line": " self.mesh = meshio.read(stl_filename)\n", + "lineno": 197, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 197, + "start_region_line": 193 + }, + { + "end_outermost_loop": 198, + "end_region_line": 208, + "line": " pts = self.mesh.points\n", + "lineno": 198, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 198, + "start_region_line": 193 + }, + { + "end_outermost_loop": 199, + "end_region_line": 208, + "line": " self.points = np.hstack((pts, np.ones([pts.shape[0], 1], dtype=np.float32))) # One extend to Nx4 array\n", + "lineno": 199, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 199, + "start_region_line": 193 + }, + { + "end_outermost_loop": 200, + "end_region_line": 208, + "line": " self.in_collision= False\n", + "lineno": 200, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 200, + "start_region_line": 193 + }, + { + "end_outermost_loop": 201, + "end_region_line": 208, + "line": " self.was_in_collision = False\n", + "lineno": 201, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 201, + "start_region_line": 193 + }, + { + "end_outermost_loop": 202, + "end_region_line": 208, + "line": " self.is_aabb=self.check_AABB(self.points)\n", + "lineno": 202, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 202, + "start_region_line": 193 + }, + { + "end_outermost_loop": 203, + "end_region_line": 208, + "line": " self.is_valid=True\n", + "lineno": 203, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 203, + "start_region_line": 193 + }, + { + "end_outermost_loop": 207, + "end_region_line": 208, + "line": " if pts.shape[0] \\u003e max_mesh_points:\n", + "lineno": 204, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 204, + "start_region_line": 193 + }, + { + "end_outermost_loop": 205, + "end_region_line": 208, + "line": " print('Incorrect size of points for link:', link_name, pts.shape)\n", + "lineno": 205, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 205, + "start_region_line": 193 + }, + { + "end_outermost_loop": 206, + "end_region_line": 208, + "line": " print('Ignoring collision link %s' % link_name)\n", + "lineno": 206, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 206, + "start_region_line": 193 + }, + { + "end_outermost_loop": 207, + "end_region_line": 208, + "line": " self.is_valid=False\n", + "lineno": 207, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 207, + "start_region_line": 193 + }, + { + "end_outermost_loop": 208, + "end_region_line": 208, + "line": " self.pose=None\n", + "lineno": 208, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 208, + "start_region_line": 193 + }, + { + "end_outermost_loop": 295, + "end_region_line": 295, + "line": " #self.edge_indices_ppd=self.find_edge_indices_PPD()\n", + "lineno": 209, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 192, + "start_region_line": 192 + }, + { + "end_outermost_loop": 210, + "end_region_line": 295, + "line": "\n", + "lineno": 210, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 210, + "start_region_line": 192 + }, + { + "end_outermost_loop": 211, + "end_region_line": 295, + "line": "\n", + "lineno": 211, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 211, + "start_region_line": 192 + }, + { + "end_outermost_loop": 213, + "end_region_line": 213, + "line": " def is_ppd(self):\n", + "lineno": 212, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 212, + "start_region_line": 212 + }, + { + "end_outermost_loop": 213, + "end_region_line": 213, + "line": " return self.points.shape[0]==8\n", + "lineno": 213, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 213, + "start_region_line": 212 + }, + { + "end_outermost_loop": 214, + "end_region_line": 295, + "line": "\n", + "lineno": 214, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 214, + "start_region_line": 192 + }, + { + "end_outermost_loop": 216, + "end_region_line": 216, + "line": " def set_pose(self,p):\n", + "lineno": 215, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 215, + "start_region_line": 215 + }, + { + "end_outermost_loop": 216, + "end_region_line": 216, + "line": " self.pose=p\n", + "lineno": 216, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 216, + "start_region_line": 215 + }, + { + "end_outermost_loop": 217, + "end_region_line": 295, + "line": "\n", + "lineno": 217, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 217, + "start_region_line": 192 + }, + { + "end_outermost_loop": 224, + "end_region_line": 224, + "line": " def pretty_print(self):\n", + "lineno": 218, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 218, + "start_region_line": 218 + }, + { + "end_outermost_loop": 219, + "end_region_line": 224, + "line": " print('-- CollisionLink %s --'%self.name)\n", + "lineno": 219, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 219, + "start_region_line": 218 + }, + { + "end_outermost_loop": 220, + "end_region_line": 224, + "line": " print('AABB Cube',self.is_aabb)\n", + "lineno": 220, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 220, + "start_region_line": 218 + }, + { + "end_outermost_loop": 221, + "end_region_line": 224, + "line": " print('Is Valid', self.is_valid)\n", + "lineno": 221, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 221, + "start_region_line": 218 + }, + { + "end_outermost_loop": 222, + "end_region_line": 224, + "line": " print('In collision',self.in_collision)\n", + "lineno": 222, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 222, + "start_region_line": 218 + }, + { + "end_outermost_loop": 223, + "end_region_line": 224, + "line": " print('Was in collision',self.was_in_collision)\n", + "lineno": 223, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 223, + "start_region_line": 218 + }, + { + "end_outermost_loop": 224, + "end_region_line": 224, + "line": " print('Mesh size',self.points.shape)\n", + "lineno": 224, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 224, + "start_region_line": 218 + }, + { + "end_outermost_loop": 225, + "end_region_line": 295, + "line": "\n", + "lineno": 225, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 225, + "start_region_line": 192 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " def find_edge_indices_PPD(self):\n", + "lineno": 226, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 226 + }, + { + "end_outermost_loop": 227, + "end_region_line": 260, + "line": " \"\"\"\n", + "lineno": 227, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 227, + "start_region_line": 226 + }, + { + "end_outermost_loop": 228, + "end_region_line": 260, + "line": " Return the indices for each edge assuming the link is a parallelpiped (PPD)\n", + "lineno": 228, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 228, + "start_region_line": 226 + }, + { + "end_outermost_loop": 229, + "end_region_line": 260, + "line": " \"\"\"\n", + "lineno": 229, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 229, + "start_region_line": 226 + }, + { + "end_outermost_loop": 230, + "end_region_line": 260, + "line": "\n", + "lineno": 230, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 230, + "start_region_line": 226 + }, + { + "end_outermost_loop": 231, + "end_region_line": 260, + "line": " triangles=self.mesh.cells_dict['triangle']\n", + "lineno": 231, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 231, + "start_region_line": 226 + }, + { + "end_outermost_loop": 232, + "end_region_line": 260, + "line": "\n", + "lineno": 232, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 232, + "start_region_line": 226 + }, + { + "end_outermost_loop": 238, + "end_region_line": 238, + "line": " for t in triangles:\n", + "lineno": 233, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 233 + }, + { + "end_outermost_loop": 238, + "end_region_line": 238, + "line": " idx_pairs=[[0,1],[0,2],[1,2]]\n", + "lineno": 234, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 233 + }, + { + "end_outermost_loop": 238, + "end_region_line": 238, + "line": " edge_lens=[]\n", + "lineno": 235, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 233 + }, + { + "end_outermost_loop": 238, + "end_region_line": 237, + "line": " for ii in idx_pairs:\n", + "lineno": 236, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 236 + }, + { + "end_outermost_loop": 238, + "end_region_line": 237, + "line": " edge_lens.append(np.linalg.norm(self.points[ii[0]]-self.points[ii[2]]))\n", + "lineno": 237, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 236 + }, + { + "end_outermost_loop": 238, + "end_region_line": 238, + "line": " exterior_edges = np.array(idx_pairs)[np.argsort(np.array(edge_lens))][0:2] #indices of two shortest legs of triangle\n", + "lineno": 238, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 233, + "start_region_line": 233 + }, + { + "end_outermost_loop": 239, + "end_region_line": 260, + "line": "\n", + "lineno": 239, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 239, + "start_region_line": 226 + }, + { + "end_outermost_loop": 240, + "end_region_line": 260, + "line": "\n", + "lineno": 240, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 240, + "start_region_line": 226 + }, + { + "end_outermost_loop": 241, + "end_region_line": 260, + "line": "\n", + "lineno": 241, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 241, + "start_region_line": 226 + }, + { + "end_outermost_loop": 242, + "end_region_line": 260, + "line": "\n", + "lineno": 242, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 242, + "start_region_line": 226 + }, + { + "end_outermost_loop": 243, + "end_region_line": 260, + "line": " px=self.points.shape[0]\n", + "lineno": 243, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 243, + "start_region_line": 226 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " # if not self.is_ppd():\n", + "lineno": 244, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 226 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " # return np.array([])\n", + "lineno": 245, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 226 + }, + { + "end_outermost_loop": 246, + "end_region_line": 260, + "line": " idx=[]\n", + "lineno": 246, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 246, + "start_region_line": 226 + }, + { + "end_outermost_loop": 247, + "end_region_line": 260, + "line": " lens=[]\n", + "lineno": 247, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 247, + "start_region_line": 226 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " #Toss out really short edge as is a mesh file artifact\n", + "lineno": 248, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 226 + }, + { + "end_outermost_loop": 249, + "end_region_line": 260, + "line": "\n", + "lineno": 249, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 249, + "start_region_line": 226 + }, + { + "end_outermost_loop": 255, + "end_region_line": 255, + "line": " for i in range(px):\n", + "lineno": 250, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 250 + }, + { + "end_outermost_loop": 255, + "end_region_line": 255, + "line": " for j in range(i+1,px):\n", + "lineno": 251, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 251 + }, + { + "end_outermost_loop": 255, + "end_region_line": 255, + "line": " ll = np.linalg.norm(self.points[i] - self.points[j])\n", + "lineno": 252, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 251 + }, + { + "end_outermost_loop": 255, + "end_region_line": 255, + "line": " if ll\\u003eeps:\n", + "lineno": 253, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 251 + }, + { + "end_outermost_loop": 255, + "end_region_line": 255, + "line": " idx.append([i,j])\n", + "lineno": 254, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 251 + }, + { + "end_outermost_loop": 255, + "end_region_line": 255, + "line": " lens.append(ll)\n", + "lineno": 255, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 250, + "start_region_line": 251 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " #return 12 shortest lengths of all possible combinations\n", + "lineno": 256, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 226, + "start_region_line": 226 + }, + { + "end_outermost_loop": 257, + "end_region_line": 260, + "line": " q= np.array(idx)[np.argsort(np.array(lens))][0:12]\n", + "lineno": 257, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 257, + "start_region_line": 226 + }, + { + "end_outermost_loop": 258, + "end_region_line": 260, + "line": " lens.sort()\n", + "lineno": 258, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 258, + "start_region_line": 226 + }, + { + "end_outermost_loop": 259, + "end_region_line": 260, + "line": " print('LENS',lens)\n", + "lineno": 259, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 259, + "start_region_line": 226 + }, + { + "end_outermost_loop": 260, + "end_region_line": 260, + "line": " return q\n", + "lineno": 260, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 260, + "start_region_line": 226 + }, + { + "end_outermost_loop": 261, + "end_region_line": 295, + "line": " \n", + "lineno": 261, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 261, + "start_region_line": 192 + }, + { + "end_outermost_loop": 270, + "end_region_line": 270, + "line": " def get_triangles(self):\n", + "lineno": 262, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 262, + "start_region_line": 262 + }, + { + "end_outermost_loop": 263, + "end_region_line": 270, + "line": " triangles_idx=self.mesh.cells_dict['triangle']\n", + "lineno": 263, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 263, + "start_region_line": 262 + }, + { + "end_outermost_loop": 264, + "end_region_line": 270, + "line": " triangles = []\n", + "lineno": 264, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 264, + "start_region_line": 262 + }, + { + "end_outermost_loop": 269, + "end_region_line": 269, + "line": " for t_set in triangles_idx:\n", + "lineno": 265, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 265 + }, + { + "end_outermost_loop": 269, + "end_region_line": 269, + "line": " p1 = self.pose[t_set[0]]\n", + "lineno": 266, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 265 + }, + { + "end_outermost_loop": 269, + "end_region_line": 269, + "line": " p2 = self.pose[t_set[1]]\n", + "lineno": 267, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 265 + }, + { + "end_outermost_loop": 269, + "end_region_line": 269, + "line": " p3 = self.pose[t_set[2]]\n", + "lineno": 268, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 265 + }, + { + "end_outermost_loop": 269, + "end_region_line": 269, + "line": " triangles.append([p1,p2,p3])\n", + "lineno": 269, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 265, + "start_region_line": 265 + }, + { + "end_outermost_loop": 270, + "end_region_line": 270, + "line": " return triangles\n", + "lineno": 270, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 270, + "start_region_line": 262 + }, + { + "end_outermost_loop": 271, + "end_region_line": 295, + "line": "\n", + "lineno": 271, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 271, + "start_region_line": 192 + }, + { + "end_outermost_loop": 295, + "end_region_line": 295, + "line": " def check_AABB(self,pts):\n", + "lineno": 272, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 272, + "start_region_line": 272 + }, + { + "end_outermost_loop": 273, + "end_region_line": 295, + "line": " \"\"\"\n", + "lineno": 273, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 273, + "start_region_line": 272 + }, + { + "end_outermost_loop": 274, + "end_region_line": 295, + "line": " Check if points are axis aligned (roughly) and form a rectangular parallelpiped (eg AABB)\n", + "lineno": 274, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 274, + "start_region_line": 272 + }, + { + "end_outermost_loop": 275, + "end_region_line": 295, + "line": "\n", + "lineno": 275, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 275, + "start_region_line": 272 + }, + { + "end_outermost_loop": 276, + "end_region_line": 295, + "line": " Parameters\n", + "lineno": 276, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 276, + "start_region_line": 272 + }, + { + "end_outermost_loop": 277, + "end_region_line": 295, + "line": " ----------\n", + "lineno": 277, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 277, + "start_region_line": 272 + }, + { + "end_outermost_loop": 278, + "end_region_line": 295, + "line": " pts of mesh (8x4)\n", + "lineno": 278, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 278, + "start_region_line": 272 + }, + { + "end_outermost_loop": 279, + "end_region_line": 295, + "line": "\n", + "lineno": 279, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 279, + "start_region_line": 272 + }, + { + "end_outermost_loop": 280, + "end_region_line": 295, + "line": " Returns\n", + "lineno": 280, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 280, + "start_region_line": 272 + }, + { + "end_outermost_loop": 281, + "end_region_line": 295, + "line": " -------\n", + "lineno": 281, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 281, + "start_region_line": 272 + }, + { + "end_outermost_loop": 282, + "end_region_line": 295, + "line": " True / False\n", + "lineno": 282, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 282, + "start_region_line": 272 + }, + { + "end_outermost_loop": 283, + "end_region_line": 295, + "line": " \"\"\"\n", + "lineno": 283, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 283, + "start_region_line": 272 + }, + { + "end_outermost_loop": 295, + "end_region_line": 295, + "line": " # Check that each x,y,z of each point has two nearly (eps) idential values\n", + "lineno": 284, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 272, + "start_region_line": 272 + }, + { + "end_outermost_loop": 285, + "end_region_line": 295, + "line": " x = pts[:, 0]\n", + "lineno": 285, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 285, + "start_region_line": 272 + }, + { + "end_outermost_loop": 286, + "end_region_line": 295, + "line": " y = pts[:, 1]\n", + "lineno": 286, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 286, + "start_region_line": 272 + }, + { + "end_outermost_loop": 287, + "end_region_line": 295, + "line": " z = pts[:, 2]\n", + "lineno": 287, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 287, + "start_region_line": 272 + }, + { + "end_outermost_loop": 288, + "end_region_line": 295, + "line": " eps = .001 # meters\n", + "lineno": 288, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 288, + "start_region_line": 272 + }, + { + "end_outermost_loop": 294, + "end_region_line": 294, + "line": " for ridx in range(8):\n", + "lineno": 289, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 289 + }, + { + "end_outermost_loop": 294, + "end_region_line": 294, + "line": " sx = sum(abs((x - x[ridx])) \\u003c eps)\n", + "lineno": 290, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 289 + }, + { + "end_outermost_loop": 294, + "end_region_line": 294, + "line": " sy = sum(abs((y - y[ridx])) \\u003c eps)\n", + "lineno": 291, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 289 + }, + { + "end_outermost_loop": 294, + "end_region_line": 294, + "line": " sz = sum(abs((y - y[ridx])) \\u003c eps)\n", + "lineno": 292, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 289 + }, + { + "end_outermost_loop": 294, + "end_region_line": 294, + "line": " if sx + sy + sz != 12:\n", + "lineno": 293, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 289 + }, + { + "end_outermost_loop": 294, + "end_region_line": 294, + "line": " return False\n", + "lineno": 294, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 289, + "start_region_line": 289 + }, + { + "end_outermost_loop": 295, + "end_region_line": 295, + "line": " return True\n", + "lineno": 295, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 295, + "start_region_line": 272 + }, + { + "end_outermost_loop": 296, + "end_region_line": 296, + "line": "\n", + "lineno": 296, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 296, + "start_region_line": 296 + }, + { + "end_outermost_loop": 313, + "end_region_line": 313, + "line": "class CollisionPair:\n", + "lineno": 297, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 297, + "start_region_line": 297 + }, + { + "end_outermost_loop": 307, + "end_region_line": 307, + "line": " def __init__(self, name,link_pts,link_cube,detect_as):\n", + "lineno": 298, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 298, + "start_region_line": 298 + }, + { + "end_outermost_loop": 299, + "end_region_line": 307, + "line": " self.in_collision=False\n", + "lineno": 299, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 299, + "start_region_line": 298 + }, + { + "end_outermost_loop": 300, + "end_region_line": 307, + "line": " self.was_in_collision=False\n", + "lineno": 300, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 300, + "start_region_line": 298 + }, + { + "end_outermost_loop": 301, + "end_region_line": 307, + "line": " self.link_cube=link_cube\n", + "lineno": 301, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 301, + "start_region_line": 298 + }, + { + "end_outermost_loop": 302, + "end_region_line": 307, + "line": " self.link_pts=link_pts\n", + "lineno": 302, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 302, + "start_region_line": 298 + }, + { + "end_outermost_loop": 303, + "end_region_line": 307, + "line": " self.detect_as=detect_as\n", + "lineno": 303, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 303, + "start_region_line": 298 + }, + { + "end_outermost_loop": 304, + "end_region_line": 307, + "line": " self.name=name\n", + "lineno": 304, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 304, + "start_region_line": 298 + }, + { + "end_outermost_loop": 305, + "end_region_line": 307, + "line": " self.is_valid=self.link_cube.is_valid and self.link_pts.is_valid and self.link_cube.is_aabb\n", + "lineno": 305, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 305, + "start_region_line": 298 + }, + { + "end_outermost_loop": 307, + "end_region_line": 307, + "line": " if not self.is_valid:\n", + "lineno": 306, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 306, + "start_region_line": 298 + }, + { + "end_outermost_loop": 307, + "end_region_line": 307, + "line": " print('Dropping monitor of collision pair %s'%self.name_id)\n", + "lineno": 307, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 307, + "start_region_line": 298 + }, + { + "end_outermost_loop": 308, + "end_region_line": 313, + "line": "\n", + "lineno": 308, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 308, + "start_region_line": 297 + }, + { + "end_outermost_loop": 313, + "end_region_line": 313, + "line": " def pretty_print(self):\n", + "lineno": 309, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 309, + "start_region_line": 309 + }, + { + "end_outermost_loop": 310, + "end_region_line": 313, + "line": " print('-------- Collision Pair %s ----------------'%self.name_id.upper())\n", + "lineno": 310, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 310, + "start_region_line": 309 + }, + { + "end_outermost_loop": 311, + "end_region_line": 313, + "line": " print('In collision',self.in_collision)\n", + "lineno": 311, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 311, + "start_region_line": 309 + }, + { + "end_outermost_loop": 312, + "end_region_line": 313, + "line": " print('Was in collision',self.was_in_collision)\n", + "lineno": 312, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 312, + "start_region_line": 309 + }, + { + "end_outermost_loop": 313, + "end_region_line": 313, + "line": " print('Is Valid',self.is_valid)\n", + "lineno": 313, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 313, + "start_region_line": 309 + }, + { + "end_outermost_loop": 314, + "end_region_line": 314, + "line": " # print('--Link Cube--')\n", + "lineno": 314, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 314, + "start_region_line": 314 + }, + { + "end_outermost_loop": 315, + "end_region_line": 315, + "line": " # self.link_cube.pretty_print()\n", + "lineno": 315, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 315, + "start_region_line": 315 + }, + { + "end_outermost_loop": 316, + "end_region_line": 316, + "line": " # print('--Link Pts--')\n", + "lineno": 316, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 316, + "start_region_line": 316 + }, + { + "end_outermost_loop": 317, + "end_region_line": 317, + "line": " # self.link_pts.pretty_print()\n", + "lineno": 317, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 317, + "start_region_line": 317 + }, + { + "end_outermost_loop": 318, + "end_region_line": 318, + "line": "\n", + "lineno": 318, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 318, + "start_region_line": 318 + }, + { + "end_outermost_loop": 319, + "end_region_line": 319, + "line": "\n", + "lineno": 319, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 319, + "start_region_line": 319 + }, + { + "end_outermost_loop": 352, + "end_region_line": 352, + "line": "class CollisionJoint:\n", + "lineno": 320, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 320, + "start_region_line": 320 + }, + { + "end_outermost_loop": 327, + "end_region_line": 327, + "line": " def __init__(self, joint_name):\n", + "lineno": 321, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 321, + "start_region_line": 321 + }, + { + "end_outermost_loop": 322, + "end_region_line": 327, + "line": " self.name=joint_name\n", + "lineno": 322, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 322, + "start_region_line": 321 + }, + { + "end_outermost_loop": 323, + "end_region_line": 327, + "line": " self.active_collisions=[]\n", + "lineno": 323, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 323, + "start_region_line": 321 + }, + { + "end_outermost_loop": 324, + "end_region_line": 327, + "line": " self.collision_pairs=[]\n", + "lineno": 324, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 324, + "start_region_line": 321 + }, + { + "end_outermost_loop": 325, + "end_region_line": 327, + "line": " self.collision_dirs={}\n", + "lineno": 325, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 325, + "start_region_line": 321 + }, + { + "end_outermost_loop": 326, + "end_region_line": 327, + "line": " self.in_collision={'pos':False,'neg':False, 'last_joint_cfg_thresh':1000}\n", + "lineno": 326, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 326, + "start_region_line": 321 + }, + { + "end_outermost_loop": 327, + "end_region_line": 327, + "line": " self.was_in_collision = {'pos': False, 'neg': False}\n", + "lineno": 327, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 327, + "start_region_line": 321 + }, + { + "end_outermost_loop": 328, + "end_region_line": 352, + "line": "\n", + "lineno": 328, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 328, + "start_region_line": 320 + }, + { + "end_outermost_loop": 331, + "end_region_line": 331, + "line": " def add_collision_pair(self,motion_dir, collision_pair):\n", + "lineno": 329, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 329, + "start_region_line": 329 + }, + { + "end_outermost_loop": 330, + "end_region_line": 331, + "line": " self.collision_pairs.append(collision_pair)\n", + "lineno": 330, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 330, + "start_region_line": 329 + }, + { + "end_outermost_loop": 331, + "end_region_line": 331, + "line": " self.collision_dirs[collision_pair.name]=motion_dir\n", + "lineno": 331, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 331, + "start_region_line": 329 + }, + { + "end_outermost_loop": 332, + "end_region_line": 352, + "line": " \n", + "lineno": 332, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 332, + "start_region_line": 320 + }, + { + "end_outermost_loop": 334, + "end_region_line": 334, + "line": " def update_last_joint_cfg_thresh(self,thresh):\n", + "lineno": 333, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 333, + "start_region_line": 333 + }, + { + "end_outermost_loop": 334, + "end_region_line": 334, + "line": " self.in_collision['last_joint_cfg_thresh'] = thresh\n", + "lineno": 334, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 334, + "start_region_line": 333 + }, + { + "end_outermost_loop": 335, + "end_region_line": 352, + "line": "\n", + "lineno": 335, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 335, + "start_region_line": 320 + }, + { + "end_outermost_loop": 336, + "end_region_line": 352, + "line": "\n", + "lineno": 336, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 336, + "start_region_line": 320 + }, + { + "end_outermost_loop": 342, + "end_region_line": 342, + "line": " def update_collision_pair_min_dist(self,pair_name):\n", + "lineno": 337, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 337, + "start_region_line": 337 + }, + { + "end_outermost_loop": 342, + "end_region_line": 342, + "line": " for cp in self.collision_pairs:\n", + "lineno": 338, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 338, + "start_region_line": 338 + }, + { + "end_outermost_loop": 342, + "end_region_line": 342, + "line": " if cp.name == pair_name:\n", + "lineno": 339, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 338, + "start_region_line": 338 + }, + { + "end_outermost_loop": 342, + "end_region_line": 342, + "line": " _,dist = closest_pair_3d(cp.link_cube.pose,cp.link_pts.pose)\n", + "lineno": 340, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 338, + "start_region_line": 338 + }, + { + "end_outermost_loop": 342, + "end_region_line": 342, + "line": " self.in_collision['las_cp_min_dist'] = {'pair_name':pair_name,'dist':dist}\n", + "lineno": 341, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 338, + "start_region_line": 338 + }, + { + "end_outermost_loop": 342, + "end_region_line": 342, + "line": " return\n", + "lineno": 342, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 338, + "start_region_line": 338 + }, + { + "end_outermost_loop": 343, + "end_region_line": 352, + "line": "\n", + "lineno": 343, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 343, + "start_region_line": 320 + }, + { + "end_outermost_loop": 352, + "end_region_line": 352, + "line": " def pretty_print(self):\n", + "lineno": 344, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 344, + "start_region_line": 344 + }, + { + "end_outermost_loop": 345, + "end_region_line": 352, + "line": " print('-------Collision Joint: %s-----------------'%self.name)\n", + "lineno": 345, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 345, + "start_region_line": 344 + }, + { + "end_outermost_loop": 348, + "end_region_line": 348, + "line": " for cp in self.collision_pairs:\n", + "lineno": 346, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 346, + "start_region_line": 346 + }, + { + "end_outermost_loop": 348, + "end_region_line": 348, + "line": " cp.pretty_print()\n", + "lineno": 347, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 346, + "start_region_line": 346 + }, + { + "end_outermost_loop": 348, + "end_region_line": 348, + "line": " print('Motion dir: %s'%self.collision_dirs[cp.name])\n", + "lineno": 348, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 346, + "start_region_line": 346 + }, + { + "end_outermost_loop": 349, + "end_region_line": 352, + "line": " print('--Active Collisions--')\n", + "lineno": 349, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 349, + "start_region_line": 344 + }, + { + "end_outermost_loop": 350, + "end_region_line": 352, + "line": " print(self.active_collisions)\n", + "lineno": 350, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 350, + "start_region_line": 344 + }, + { + "end_outermost_loop": 352, + "end_region_line": 352, + "line": " for ac in self.active_collisions:\n", + "lineno": 351, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 351, + "start_region_line": 351 + }, + { + "end_outermost_loop": 352, + "end_region_line": 352, + "line": " print('Active Collision: %s' % ac)\n", + "lineno": 352, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 351, + "start_region_line": 351 + }, + { + "end_outermost_loop": 353, + "end_region_line": 353, + "line": "\n", + "lineno": 353, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 353, + "start_region_line": 353 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": "def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh, exit_event):\n", + "lineno": 354, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 354, + "start_region_line": 354 + }, + { + "end_outermost_loop": 355, + "end_region_line": 367, + "line": " collision_compute = RobotCollisionCompute(name)\n", + "lineno": 355, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 355, + "start_region_line": 354 + }, + { + "end_outermost_loop": 356, + "end_region_line": 367, + "line": " collision_compute.startup()\n", + "lineno": 356, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 356, + "start_region_line": 354 + }, + { + "end_outermost_loop": 357, + "end_region_line": 367, + "line": " collision_joints_status = {}\n", + "lineno": 357, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 357, + "start_region_line": 354 + }, + { + "end_outermost_loop": 358, + "end_region_line": 367, + "line": " time.sleep(0.5)\n", + "lineno": 358, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 358, + "start_region_line": 354 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " while not exit_event.is_set():\n", + "lineno": 359, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " try:\n", + "lineno": 360, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " if shared_is_running.value:\n", + "lineno": 361, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh)\n", + "lineno": 362, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 367, + "end_region_line": 364, + "line": " for joint_name in collision_compute.collision_joints:\n", + "lineno": 363, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 363 + }, + { + "end_outermost_loop": 367, + "end_region_line": 364, + "line": " collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision\n", + "lineno": 364, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 363 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " shared_collision_status.put(collision_joints_status)\n", + "lineno": 365, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " except (BrokenPipeError,ConnectionResetError):\n", + "lineno": 366, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 367, + "end_region_line": 367, + "line": " pass\n", + "lineno": 367, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 359, + "start_region_line": 359 + }, + { + "end_outermost_loop": 368, + "end_region_line": 368, + "line": " \n", + "lineno": 368, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 368, + "start_region_line": 368 + }, + { + "end_outermost_loop": 476, + "end_region_line": 476, + "line": "class RobotCollisionMgmt(Device):\n", + "lineno": 369, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 369, + "start_region_line": 369 + }, + { + "end_outermost_loop": 390, + "end_region_line": 390, + "line": " def __init__(self,robot,name='robot_collision_mgmt'):\n", + "lineno": 370, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 370, + "start_region_line": 370 + }, + { + "end_outermost_loop": 371, + "end_region_line": 390, + "line": " self.name = name\n", + "lineno": 371, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 371, + "start_region_line": 370 + }, + { + "end_outermost_loop": 372, + "end_region_line": 390, + "line": " self.robot = robot\n", + "lineno": 372, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 372, + "start_region_line": 370 + }, + { + "end_outermost_loop": 373, + "end_region_line": 390, + "line": " self.shared_joint_cfg = multiprocessing.Queue()\n", + "lineno": 373, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 373, + "start_region_line": 370 + }, + { + "end_outermost_loop": 374, + "end_region_line": 390, + "line": " self.shared_collision_status = multiprocessing.Queue()\n", + "lineno": 374, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 374, + "start_region_line": 370 + }, + { + "end_outermost_loop": 375, + "end_region_line": 390, + "line": " self.shared_joint_cfg_thresh = multiprocessing.Value(ctypes.c_float, 1000.0)\n", + "lineno": 375, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 375, + "start_region_line": 370 + }, + { + "end_outermost_loop": 376, + "end_region_line": 390, + "line": " self.shared_is_running = multiprocessing.Value(ctypes.c_bool, False)\n", + "lineno": 376, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 376, + "start_region_line": 370 + }, + { + "end_outermost_loop": 377, + "end_region_line": 390, + "line": " self.exit_event = multiprocessing.Event()\n", + "lineno": 377, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 377, + "start_region_line": 370 + }, + { + "end_outermost_loop": 378, + "end_region_line": 390, + "line": " signal.signal(signal.SIGINT, self.signal_handler)\n", + "lineno": 378, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 378, + "start_region_line": 370 + }, + { + "end_outermost_loop": 379, + "end_region_line": 390, + "line": " signal.signal(signal.SIGTERM, self.signal_handler)\n", + "lineno": 379, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 379, + "start_region_line": 370 + }, + { + "end_outermost_loop": 380, + "end_region_line": 390, + "line": " self.collision_compute_proccess = multiprocessing.Process(target=_collision_compute_worker,\n", + "lineno": 380, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 380, + "start_region_line": 370 + }, + { + "end_outermost_loop": 381, + "end_region_line": 390, + "line": " name=name,\n", + "lineno": 381, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 381, + "start_region_line": 370 + }, + { + "end_outermost_loop": 382, + "end_region_line": 390, + "line": " args=(self.name,\n", + "lineno": 382, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 382, + "start_region_line": 370 + }, + { + "end_outermost_loop": 383, + "end_region_line": 390, + "line": " self.shared_is_running,\n", + "lineno": 383, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 383, + "start_region_line": 370 + }, + { + "end_outermost_loop": 384, + "end_region_line": 390, + "line": " self.shared_joint_cfg,\n", + "lineno": 384, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 384, + "start_region_line": 370 + }, + { + "end_outermost_loop": 385, + "end_region_line": 390, + "line": " self.shared_collision_status,\n", + "lineno": 385, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 385, + "start_region_line": 370 + }, + { + "end_outermost_loop": 386, + "end_region_line": 390, + "line": " self.shared_joint_cfg_thresh,\n", + "lineno": 386, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 386, + "start_region_line": 370 + }, + { + "end_outermost_loop": 387, + "end_region_line": 390, + "line": " self.exit_event,),daemon=True)\n", + "lineno": 387, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 387, + "start_region_line": 370 + }, + { + "end_outermost_loop": 388, + "end_region_line": 390, + "line": " self.running = False\n", + "lineno": 388, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 388, + "start_region_line": 370 + }, + { + "end_outermost_loop": 389, + "end_region_line": 390, + "line": " self.robot_params = RobotParams().get_params()[1]\n", + "lineno": 389, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 389, + "start_region_line": 370 + }, + { + "end_outermost_loop": 390, + "end_region_line": 390, + "line": " self.collision_status = {}\n", + "lineno": 390, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 390, + "start_region_line": 370 + }, + { + "end_outermost_loop": 391, + "end_region_line": 476, + "line": "\n", + "lineno": 391, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 391, + "start_region_line": 369 + }, + { + "end_outermost_loop": 393, + "end_region_line": 393, + "line": " def startup(self):\n", + "lineno": 392, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 392, + "start_region_line": 392 + }, + { + "end_outermost_loop": 393, + "end_region_line": 393, + "line": " self.collision_compute_proccess.start()\n", + "lineno": 393, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 393, + "start_region_line": 392 + }, + { + "end_outermost_loop": 394, + "end_region_line": 476, + "line": " \n", + "lineno": 394, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 394, + "start_region_line": 369 + }, + { + "end_outermost_loop": 399, + "end_region_line": 399, + "line": " def stop(self):\n", + "lineno": 395, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 395, + "start_region_line": 395 + }, + { + "end_outermost_loop": 396, + "end_region_line": 399, + "line": " self.exit_event.set()\n", + "lineno": 396, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 396, + "start_region_line": 395 + }, + { + "end_outermost_loop": 397, + "end_region_line": 399, + "line": " self.shared_is_running.set(False)\n", + "lineno": 397, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 397, + "start_region_line": 395 + }, + { + "end_outermost_loop": 398, + "end_region_line": 399, + "line": " self.collision_compute_proccess.terminate()\n", + "lineno": 398, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 398, + "start_region_line": 395 + }, + { + "end_outermost_loop": 399, + "end_region_line": 399, + "line": " self.collision_compute_proccess.join()\n", + "lineno": 399, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 399, + "start_region_line": 395 + }, + { + "end_outermost_loop": 400, + "end_region_line": 476, + "line": " \n", + "lineno": 400, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 400, + "start_region_line": 369 + }, + { + "end_outermost_loop": 411, + "end_region_line": 411, + "line": " def step(self):\n", + "lineno": 401, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 401, + "start_region_line": 401 + }, + { + "end_outermost_loop": 402, + "end_region_line": 411, + "line": " try:\n", + "lineno": 402, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 402, + "start_region_line": 401 + }, + { + "end_outermost_loop": 403, + "end_region_line": 411, + "line": " self.shared_is_running.value = self.running\n", + "lineno": 403, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 403, + "start_region_line": 401 + }, + { + "end_outermost_loop": 409, + "end_region_line": 411, + "line": " if self.running:\n", + "lineno": 404, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 404, + "start_region_line": 401 + }, + { + "end_outermost_loop": 405, + "end_region_line": 411, + "line": " self.shared_joint_cfg_thresh.value = self.get_normalized_cfg_threshold()\n", + "lineno": 405, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 405, + "start_region_line": 401 + }, + { + "end_outermost_loop": 406, + "end_region_line": 411, + "line": " self.shared_joint_cfg.put(self.get_joint_configuration(braked=True))\n", + "lineno": 406, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 406, + "start_region_line": 401 + }, + { + "end_outermost_loop": 407, + "end_region_line": 411, + "line": " self.collision_status.update(self.shared_collision_status.get())\n", + "lineno": 407, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 407, + "start_region_line": 401 + }, + { + "end_outermost_loop": 408, + "end_region_line": 409, + "line": " for j in self.collision_status.keys():\n", + "lineno": 408, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 408, + "start_region_line": 408 + }, + { + "end_outermost_loop": 409, + "end_region_line": 409, + "line": " self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j])\n", + "lineno": 409, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 409, + "start_region_line": 408 + }, + { + "end_outermost_loop": 410, + "end_region_line": 411, + "line": " except (BrokenPipeError,ConnectionResetError):\n", + "lineno": 410, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 410, + "start_region_line": 401 + }, + { + "end_outermost_loop": 411, + "end_region_line": 411, + "line": " pass\n", + "lineno": 411, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 411, + "start_region_line": 401 + }, + { + "end_outermost_loop": 412, + "end_region_line": 476, + "line": "\n", + "lineno": 412, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 412, + "start_region_line": 369 + }, + { + "end_outermost_loop": 414, + "end_region_line": 414, + "line": " def signal_handler(self, signal_received, frame):\n", + "lineno": 413, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 413, + "start_region_line": 413 + }, + { + "end_outermost_loop": 414, + "end_region_line": 414, + "line": " self.exit_event.set()\n", + "lineno": 414, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 414, + "start_region_line": 413 + }, + { + "end_outermost_loop": 415, + "end_region_line": 476, + "line": " \n", + "lineno": 415, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 415, + "start_region_line": 369 + }, + { + "end_outermost_loop": 426, + "end_region_line": 426, + "line": " def get_joint_motor(self,joint_name):\n", + "lineno": 416, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 416, + "start_region_line": 416 + }, + { + "end_outermost_loop": 418, + "end_region_line": 426, + "line": " if joint_name=='lift':\n", + "lineno": 417, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 417, + "start_region_line": 416 + }, + { + "end_outermost_loop": 418, + "end_region_line": 426, + "line": " return self.robot.lift\n", + "lineno": 418, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 418, + "start_region_line": 416 + }, + { + "end_outermost_loop": 420, + "end_region_line": 426, + "line": " if joint_name=='arm':\n", + "lineno": 419, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 419, + "start_region_line": 416 + }, + { + "end_outermost_loop": 420, + "end_region_line": 426, + "line": " return self.robot.arm\n", + "lineno": 420, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 420, + "start_region_line": 416 + }, + { + "end_outermost_loop": 422, + "end_region_line": 426, + "line": " if joint_name=='head_pan':\n", + "lineno": 421, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 421, + "start_region_line": 416 + }, + { + "end_outermost_loop": 422, + "end_region_line": 426, + "line": " return self.robot.head.get_joint('head_pan')\n", + "lineno": 422, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 422, + "start_region_line": 416 + }, + { + "end_outermost_loop": 424, + "end_region_line": 426, + "line": " if joint_name=='head_tilt':\n", + "lineno": 423, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 423, + "start_region_line": 416 + }, + { + "end_outermost_loop": 424, + "end_region_line": 426, + "line": " return self.robot.head.get_joint('head_tilt')\n", + "lineno": 424, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 424, + "start_region_line": 416 + }, + { + "end_outermost_loop": 426, + "end_region_line": 426, + "line": " #Try the tool\n", + "lineno": 425, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 416, + "start_region_line": 416 + }, + { + "end_outermost_loop": 426, + "end_region_line": 426, + "line": " return self.robot.end_of_arm.get_joint(joint_name)\n", + "lineno": 426, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 426, + "start_region_line": 416 + }, + { + "end_outermost_loop": 427, + "end_region_line": 476, + "line": "\n", + "lineno": 427, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 427, + "start_region_line": 369 + }, + { + "end_outermost_loop": 440, + "end_region_line": 440, + "line": " def get_normalized_cfg_threshold(self):\n", + "lineno": 428, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 428, + "start_region_line": 428 + }, + { + "end_outermost_loop": 429, + "end_region_line": 440, + "line": " arm_pos = self.robot.status['arm']['pos']/(0.5)\n", + "lineno": 429, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 429, + "start_region_line": 428 + }, + { + "end_outermost_loop": 430, + "end_region_line": 440, + "line": " lift_pos = self.robot.status['lift']['pos']/(1.1)\n", + "lineno": 430, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 430, + "start_region_line": 428 + }, + { + "end_outermost_loop": 431, + "end_region_line": 440, + "line": " head_pan_pos = (self.robot.status['head']['head_pan']['pos_ticks']- self.robot_params['head_pan']['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0])\n", + "lineno": 431, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 431, + "start_region_line": 428 + }, + { + "end_outermost_loop": 432, + "end_region_line": 440, + "line": " head_tilt_pos = (self.robot.status['head']['head_tilt']['pos_ticks']- self.robot_params['head_tilt']['range_t'][0])/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0])\n", + "lineno": 432, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 432, + "start_region_line": 428 + }, + { + "end_outermost_loop": 433, + "end_region_line": 440, + "line": " thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos\n", + "lineno": 433, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 433, + "start_region_line": 428 + }, + { + "end_outermost_loop": 434, + "end_region_line": 440, + "line": " i = 0\n", + "lineno": 434, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 434, + "start_region_line": 428 + }, + { + "end_outermost_loop": 438, + "end_region_line": 438, + "line": " for j in self.robot.end_of_arm.joints:\n", + "lineno": 435, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 435, + "start_region_line": 435 + }, + { + "end_outermost_loop": 438, + "end_region_line": 438, + "line": " value = (self.robot.status['end_of_arm'][j]['pos_ticks']- self.robot_params[j]['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0])\n", + "lineno": 436, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 435, + "start_region_line": 435 + }, + { + "end_outermost_loop": 438, + "end_region_line": 438, + "line": " thresh = thresh + value\n", + "lineno": 437, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 435, + "start_region_line": 435 + }, + { + "end_outermost_loop": 438, + "end_region_line": 438, + "line": " i = i + 1\n", + "lineno": 438, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 435, + "start_region_line": 435 + }, + { + "end_outermost_loop": 439, + "end_region_line": 440, + "line": " thresh = thresh/(4+i)\n", + "lineno": 439, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 439, + "start_region_line": 428 + }, + { + "end_outermost_loop": 440, + "end_region_line": 440, + "line": " return float(thresh)\n", + "lineno": 440, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 440, + "start_region_line": 428 + }, + { + "end_outermost_loop": 441, + "end_region_line": 476, + "line": " \n", + "lineno": 441, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 441, + "start_region_line": 369 + }, + { + "end_outermost_loop": 470, + "end_region_line": 470, + "line": " def get_joint_configuration(self,braked=False):\n", + "lineno": 442, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 442, + "start_region_line": 442 + }, + { + "end_outermost_loop": 443, + "end_region_line": 470, + "line": " \"\"\"\n", + "lineno": 443, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 443, + "start_region_line": 442 + }, + { + "end_outermost_loop": 444, + "end_region_line": 470, + "line": " Construct a dictionary of robot's current pose\n", + "lineno": 444, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 444, + "start_region_line": 442 + }, + { + "end_outermost_loop": 445, + "end_region_line": 470, + "line": " \"\"\"\n", + "lineno": 445, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 445, + "start_region_line": 442 + }, + { + "end_outermost_loop": 446, + "end_region_line": 470, + "line": " s = self.robot.get_status()\n", + "lineno": 446, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 446, + "start_region_line": 442 + }, + { + "end_outermost_loop": 447, + "end_region_line": 470, + "line": " kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance']\n", + "lineno": 447, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 447, + "start_region_line": 442 + }, + { + "end_outermost_loop": 457, + "end_region_line": 470, + "line": " if braked:\n", + "lineno": 448, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 448, + "start_region_line": 442 + }, + { + "end_outermost_loop": 449, + "end_region_line": 470, + "line": " da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0\n", + "lineno": 449, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 449, + "start_region_line": 442 + }, + { + "end_outermost_loop": 450, + "end_region_line": 470, + "line": " dl=kbd['lift']*self.robot.lift.get_braking_distance()\n", + "lineno": 450, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 450, + "start_region_line": 442 + }, + { + "end_outermost_loop": 451, + "end_region_line": 470, + "line": " dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance()\n", + "lineno": 451, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 451, + "start_region_line": 442 + }, + { + "end_outermost_loop": 452, + "end_region_line": 470, + "line": " dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance()\n", + "lineno": 452, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 452, + "start_region_line": 442 + }, + { + "end_outermost_loop": 457, + "end_region_line": 470, + "line": " else:\n", + "lineno": 453, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 448, + "start_region_line": 442 + }, + { + "end_outermost_loop": 454, + "end_region_line": 470, + "line": " da=0.0\n", + "lineno": 454, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 454, + "start_region_line": 442 + }, + { + "end_outermost_loop": 455, + "end_region_line": 470, + "line": " dl=0.0\n", + "lineno": 455, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 455, + "start_region_line": 442 + }, + { + "end_outermost_loop": 456, + "end_region_line": 470, + "line": " dhp=0.0\n", + "lineno": 456, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 456, + "start_region_line": 442 + }, + { + "end_outermost_loop": 457, + "end_region_line": 470, + "line": " dht=0.0\n", + "lineno": 457, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 457, + "start_region_line": 442 + }, + { + "end_outermost_loop": 458, + "end_region_line": 470, + "line": "\n", + "lineno": 458, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 458, + "start_region_line": 442 + }, + { + "end_outermost_loop": 459, + "end_region_line": 470, + "line": " configuration = {\n", + "lineno": 459, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 459, + "start_region_line": 442 + }, + { + "end_outermost_loop": 460, + "end_region_line": 470, + "line": " 'joint_lift': dl+s['lift']['pos'],\n", + "lineno": 460, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 460, + "start_region_line": 442 + }, + { + "end_outermost_loop": 461, + "end_region_line": 470, + "line": " 'joint_arm_l0': da+s['arm']['pos']/4.0,\n", + "lineno": 461, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 461, + "start_region_line": 442 + }, + { + "end_outermost_loop": 462, + "end_region_line": 470, + "line": " 'joint_arm_l1': da+s['arm']['pos']/4.0,\n", + "lineno": 462, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 462, + "start_region_line": 442 + }, + { + "end_outermost_loop": 463, + "end_region_line": 470, + "line": " 'joint_arm_l2': da+s['arm']['pos']/4.0,\n", + "lineno": 463, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 463, + "start_region_line": 442 + }, + { + "end_outermost_loop": 464, + "end_region_line": 470, + "line": " 'joint_arm_l3': da+s['arm']['pos']/4.0,\n", + "lineno": 464, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 464, + "start_region_line": 442 + }, + { + "end_outermost_loop": 465, + "end_region_line": 470, + "line": " 'joint_head_pan': dhp+s['head']['head_pan']['pos'],\n", + "lineno": 465, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 465, + "start_region_line": 442 + }, + { + "end_outermost_loop": 466, + "end_region_line": 470, + "line": " 'joint_head_tilt': dht+s['head']['head_tilt']['pos']\n", + "lineno": 466, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 466, + "start_region_line": 442 + }, + { + "end_outermost_loop": 467, + "end_region_line": 470, + "line": " }\n", + "lineno": 467, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 467, + "start_region_line": 442 + }, + { + "end_outermost_loop": 468, + "end_region_line": 470, + "line": "\n", + "lineno": 468, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 468, + "start_region_line": 442 + }, + { + "end_outermost_loop": 469, + "end_region_line": 470, + "line": " configuration.update(self.robot.end_of_arm.get_joint_configuration(braked))\n", + "lineno": 469, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 469, + "start_region_line": 442 + }, + { + "end_outermost_loop": 470, + "end_region_line": 470, + "line": " return configuration\n", + "lineno": 470, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 470, + "start_region_line": 442 + }, + { + "end_outermost_loop": 471, + "end_region_line": 476, + "line": " \n", + "lineno": 471, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 471, + "start_region_line": 369 + }, + { + "end_outermost_loop": 473, + "end_region_line": 473, + "line": " def enable(self):\n", + "lineno": 472, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 472, + "start_region_line": 472 + }, + { + "end_outermost_loop": 473, + "end_region_line": 473, + "line": " self.running=True\n", + "lineno": 473, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 473, + "start_region_line": 472 + }, + { + "end_outermost_loop": 474, + "end_region_line": 476, + "line": "\n", + "lineno": 474, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 474, + "start_region_line": 369 + }, + { + "end_outermost_loop": 476, + "end_region_line": 476, + "line": " def disable(self):\n", + "lineno": 475, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 475, + "start_region_line": 475 + }, + { + "end_outermost_loop": 476, + "end_region_line": 476, + "line": " self.running=False\n", + "lineno": 476, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 476, + "start_region_line": 475 + }, + { + "end_outermost_loop": 477, + "end_region_line": 477, + "line": "\n", + "lineno": 477, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 477, + "start_region_line": 477 + }, + { + "end_outermost_loop": 651, + "end_region_line": 651, + "line": "class RobotCollisionCompute(Device):\n", + "lineno": 478, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 478, + "start_region_line": 478 + }, + { + "end_outermost_loop": 499, + "end_region_line": 499, + "line": " def __init__(self,name='robot_collision_mgmt'):\n", + "lineno": 479, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 479, + "start_region_line": 479 + }, + { + "end_outermost_loop": 480, + "end_region_line": 499, + "line": " \"\"\"\n", + "lineno": 480, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 480, + "start_region_line": 479 + }, + { + "end_outermost_loop": 481, + "end_region_line": 499, + "line": " RobotCollisionMgmt monitors for collisions between links.\n", + "lineno": 481, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 481, + "start_region_line": 479 + }, + { + "end_outermost_loop": 482, + "end_region_line": 499, + "line": " It utilizes the Collision mesh for collision estimation.\n", + "lineno": 482, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 482, + "start_region_line": 479 + }, + { + "end_outermost_loop": 483, + "end_region_line": 499, + "line": " Given the Cartesian structure of Stretch we simplify the collision detection in order to achieve real-time speeds.\n", + "lineno": 483, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 483, + "start_region_line": 479 + }, + { + "end_outermost_loop": 484, + "end_region_line": 499, + "line": " We simplify the problem by assuming:\n", + "lineno": 484, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 484, + "start_region_line": 479 + }, + { + "end_outermost_loop": 485, + "end_region_line": 499, + "line": " * One of the collision meshes (\"cube\") is a cube that is aligned with XYZ axis (eg AABB)\n", + "lineno": 485, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 485, + "start_region_line": 479 + }, + { + "end_outermost_loop": 486, + "end_region_line": 499, + "line": " * The other collision mesh (\"pts\") is simple shape of just a few points (eg, a cube, trapezoid, etc)\\u003cmax_mesh_points\n", + "lineno": 486, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 486, + "start_region_line": 479 + }, + { + "end_outermost_loop": 487, + "end_region_line": 499, + "line": "\n", + "lineno": 487, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 487, + "start_region_line": 479 + }, + { + "end_outermost_loop": 488, + "end_region_line": 499, + "line": " The params define which links we want to monitor collisions between.\n", + "lineno": 488, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 488, + "start_region_line": 479 + }, + { + "end_outermost_loop": 489, + "end_region_line": 499, + "line": " Each link includes a parameter \"scale_pct\" which allows the mesh size to be expanded by a percentage around its centroid\n", + "lineno": 489, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 489, + "start_region_line": 479 + }, + { + "end_outermost_loop": 490, + "end_region_line": 499, + "line": " enabling the ability to increase the safety zone.\n", + "lineno": 490, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 490, + "start_region_line": 479 + }, + { + "end_outermost_loop": 491, + "end_region_line": 499, + "line": " \"\"\"\n", + "lineno": 491, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 491, + "start_region_line": 479 + }, + { + "end_outermost_loop": 492, + "end_region_line": 499, + "line": " Device.__init__(self, name)\n", + "lineno": 492, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 492, + "start_region_line": 479 + }, + { + "end_outermost_loop": 493, + "end_region_line": 499, + "line": " self.collision_joints = {}\n", + "lineno": 493, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 493, + "start_region_line": 479 + }, + { + "end_outermost_loop": 494, + "end_region_line": 499, + "line": " self.collision_links = {}\n", + "lineno": 494, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 494, + "start_region_line": 479 + }, + { + "end_outermost_loop": 495, + "end_region_line": 499, + "line": " self.collision_pairs = {}\n", + "lineno": 495, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 495, + "start_region_line": 479 + }, + { + "end_outermost_loop": 496, + "end_region_line": 499, + "line": " chime.theme('big-sur') #'material')\n", + "lineno": 496, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 496, + "start_region_line": 479 + }, + { + "end_outermost_loop": 497, + "end_region_line": 499, + "line": " self.urdf=None\n", + "lineno": 497, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 497, + "start_region_line": 479 + }, + { + "end_outermost_loop": 498, + "end_region_line": 499, + "line": " self.prev_loop_start_ts = None\n", + "lineno": 498, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 498, + "start_region_line": 479 + }, + { + "end_outermost_loop": 499, + "end_region_line": 499, + "line": " self.robot_params = RobotParams().get_params()[1]\n", + "lineno": 499, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 499, + "start_region_line": 479 + }, + { + "end_outermost_loop": 500, + "end_region_line": 651, + "line": "\n", + "lineno": 500, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 500, + "start_region_line": 478 + }, + { + "end_outermost_loop": 503, + "end_region_line": 503, + "line": " def pretty_print(self):\n", + "lineno": 501, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 501, + "start_region_line": 501 + }, + { + "end_outermost_loop": 503, + "end_region_line": 503, + "line": " for j in self.collision_joints:\n", + "lineno": 502, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 502, + "start_region_line": 502 + }, + { + "end_outermost_loop": 503, + "end_region_line": 503, + "line": " self.collision_joints[j].pretty_print()\n", + "lineno": 503, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 502, + "start_region_line": 502 + }, + { + "end_outermost_loop": 504, + "end_region_line": 651, + "line": "\n", + "lineno": 504, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 504, + "start_region_line": 478 + }, + { + "end_outermost_loop": 505, + "end_region_line": 651, + "line": "\n", + "lineno": 505, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 505, + "start_region_line": 478 + }, + { + "end_outermost_loop": 506, + "end_region_line": 651, + "line": " \n", + "lineno": 506, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 506, + "start_region_line": 478 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " def startup(self,threaded=False):\n", + "lineno": 507, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 507 + }, + { + "end_outermost_loop": 508, + "end_region_line": 562, + "line": " Device.startup(self, threaded)\n", + "lineno": 508, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 508, + "start_region_line": 507 + }, + { + "end_outermost_loop": 509, + "end_region_line": 562, + "line": " pkg = str(importlib_resources.files(\"stretch_urdf\")) # .local/lib/python3.10/site-packages/stretch_urdf)\n", + "lineno": 509, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 509, + "start_region_line": 507 + }, + { + "end_outermost_loop": 510, + "end_region_line": 562, + "line": " model_name = self.robot_params['robot']['model_name']\n", + "lineno": 510, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 510, + "start_region_line": 507 + }, + { + "end_outermost_loop": 511, + "end_region_line": 562, + "line": " eoa_name= self.robot_params['robot']['tool']\n", + "lineno": 511, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 511, + "start_region_line": 507 + }, + { + "end_outermost_loop": 512, + "end_region_line": 562, + "line": " urdf_name = pkg + '/%s/stretch_description_%s_%s.urdf' % (model_name, model_name, eoa_name)\n", + "lineno": 512, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 512, + "start_region_line": 507 + }, + { + "end_outermost_loop": 513, + "end_region_line": 562, + "line": " mesh_path = pkg + '/%s/' % (model_name)\n", + "lineno": 513, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 513, + "start_region_line": 507 + }, + { + "end_outermost_loop": 514, + "end_region_line": 562, + "line": "\n", + "lineno": 514, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 514, + "start_region_line": 507 + }, + { + "end_outermost_loop": 518, + "end_region_line": 562, + "line": " if self.params[model_name]=={}:\n", + "lineno": 515, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 507 + }, + { + "end_outermost_loop": 518, + "end_region_line": 562, + "line": " #self.logger.warning('Collision parameters not present. Disabling collision system.')\n", + "lineno": 516, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 515, + "start_region_line": 507 + }, + { + "end_outermost_loop": 517, + "end_region_line": 562, + "line": " self.running = False\n", + "lineno": 517, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 517, + "start_region_line": 507 + }, + { + "end_outermost_loop": 518, + "end_region_line": 562, + "line": " return\n", + "lineno": 518, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 518, + "start_region_line": 507 + }, + { + "end_outermost_loop": 519, + "end_region_line": 562, + "line": "\n", + "lineno": 519, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 519, + "start_region_line": 507 + }, + { + "end_outermost_loop": 520, + "end_region_line": 562, + "line": " try:\n", + "lineno": 520, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 520, + "start_region_line": 507 + }, + { + "end_outermost_loop": 521, + "end_region_line": 562, + "line": " self.urdf = urdf_loader.URDF.load(urdf_name)\n", + "lineno": 521, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 521, + "start_region_line": 507 + }, + { + "end_outermost_loop": 522, + "end_region_line": 562, + "line": " except ValueError:\n", + "lineno": 522, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 522, + "start_region_line": 507 + }, + { + "end_outermost_loop": 523, + "end_region_line": 562, + "line": " print('Unable to load URDF: %s. Disabling collision system.' % urdf_name)\n", + "lineno": 523, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 523, + "start_region_line": 507 + }, + { + "end_outermost_loop": 524, + "end_region_line": 562, + "line": " self.urdf = None\n", + "lineno": 524, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 524, + "start_region_line": 507 + }, + { + "end_outermost_loop": 525, + "end_region_line": 562, + "line": " self.running = False\n", + "lineno": 525, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 525, + "start_region_line": 507 + }, + { + "end_outermost_loop": 526, + "end_region_line": 562, + "line": " return\n", + "lineno": 526, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 526, + "start_region_line": 507 + }, + { + "end_outermost_loop": 527, + "end_region_line": 562, + "line": "\n", + "lineno": 527, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 527, + "start_region_line": 507 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " #Construct collision pairs\n", + "lineno": 528, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 507 + }, + { + "end_outermost_loop": 529, + "end_region_line": 562, + "line": " cp_dict = self.params[model_name]['collision_pairs']\n", + "lineno": 529, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 529, + "start_region_line": 507 + }, + { + "end_outermost_loop": 530, + "end_region_line": 562, + "line": " cp_dict.update(self.robot_params[eoa_name]['collision_mgmt']['collision_pairs'])\n", + "lineno": 530, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 530, + "start_region_line": 507 + }, + { + "end_outermost_loop": 531, + "end_region_line": 562, + "line": "\n", + "lineno": 531, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 531, + "start_region_line": 507 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " for cp_name in cp_dict:\n", + "lineno": 532, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " cp=cp_dict[cp_name] #Eg {'link_pts': 'link_head_tilt', 'link_cube': 'link_arm_l4','detect_as':'pts'}\n", + "lineno": 533, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " if cp['link_pts'] not in self.collision_links:\n", + "lineno": 534, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " self.collision_links[cp['link_pts']] = CollisionLink(cp['link_pts'], self.urdf, mesh_path,\n", + "lineno": 535, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " self.params['max_mesh_points'])\n", + "lineno": 536, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " if cp['link_cube'] not in self.collision_links:\n", + "lineno": 537, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " self.collision_links[cp['link_cube']] = CollisionLink(cp['link_cube'], self.urdf, mesh_path,\n", + "lineno": 538, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " self.params['max_mesh_points'])\n", + "lineno": 539, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " self.collision_pairs[cp_name] = CollisionPair(name=cp_name,\n", + "lineno": 540, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " link_pts=self.collision_links[cp['link_pts']],\n", + "lineno": 541, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " link_cube=self.collision_links[cp['link_cube']],\n", + "lineno": 542, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 543, + "end_region_line": 543, + "line": " detect_as=cp['detect_as'])\n", + "lineno": 543, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 532, + "start_region_line": 532 + }, + { + "end_outermost_loop": 544, + "end_region_line": 562, + "line": "\n", + "lineno": 544, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 544, + "start_region_line": 507 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " #Assign collision pairs to each joint\n", + "lineno": 545, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 507 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " #Include those of standard robot body plus its defined tool\n", + "lineno": 546, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 507 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " # EG collision_joints={'lift':[{collision_1},{collision_2...}],'head_pan':[...]}\n", + "lineno": 547, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 507, + "start_region_line": 507 + }, + { + "end_outermost_loop": 548, + "end_region_line": 562, + "line": " cj_dict=self.params[model_name]['joints']\n", + "lineno": 548, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 548, + "start_region_line": 507 + }, + { + "end_outermost_loop": 549, + "end_region_line": 562, + "line": " eoa_cj_dict=self.robot_params[eoa_name]['collision_mgmt']['joints']\n", + "lineno": 549, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 549, + "start_region_line": 507 + }, + { + "end_outermost_loop": 550, + "end_region_line": 562, + "line": "\n", + "lineno": 550, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 550, + "start_region_line": 507 + }, + { + "end_outermost_loop": 555, + "end_region_line": 555, + "line": " for tt in eoa_cj_dict:\n", + "lineno": 551, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 551, + "start_region_line": 551 + }, + { + "end_outermost_loop": 555, + "end_region_line": 555, + "line": " if tt in cj_dict:\n", + "lineno": 552, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 551, + "start_region_line": 551 + }, + { + "end_outermost_loop": 555, + "end_region_line": 555, + "line": " cj_dict[tt]+=eoa_cj_dict[tt]\n", + "lineno": 553, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 551, + "start_region_line": 551 + }, + { + "end_outermost_loop": 555, + "end_region_line": 555, + "line": " else:\n", + "lineno": 554, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 551, + "start_region_line": 551 + }, + { + "end_outermost_loop": 555, + "end_region_line": 555, + "line": " cj_dict[tt]=eoa_cj_dict[tt]\n", + "lineno": 555, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 551, + "start_region_line": 551 + }, + { + "end_outermost_loop": 556, + "end_region_line": 562, + "line": "\n", + "lineno": 556, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 556, + "start_region_line": 507 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " for joint_name in cj_dict:\n", + "lineno": 557, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 557 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " self.collision_joints[joint_name]=CollisionJoint(joint_name)\n", + "lineno": 558, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 557 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " cp_list = cj_dict[joint_name]\n", + "lineno": 559, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 557 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " for cp in cp_list: #eg cp={'motion_dir': 'pos', 'collision_pair': 'link_head_tilt_TO_link_arm_l4'}\n", + "lineno": 560, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 560 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " self.collision_joints[joint_name].add_collision_pair(motion_dir=cp['motion_dir'],\n", + "lineno": 561, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 560 + }, + { + "end_outermost_loop": 562, + "end_region_line": 562, + "line": " collision_pair=self.collision_pairs[cp['collision_pair']])\n", + "lineno": 562, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 557, + "start_region_line": 560 + }, + { + "end_outermost_loop": 563, + "end_region_line": 651, + "line": " \n", + "lineno": 563, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 563, + "start_region_line": 478 + }, + { + "end_outermost_loop": 564, + "end_region_line": 651, + "line": "\n", + "lineno": 564, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 564, + "start_region_line": 478 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " def step(self,cfg=None, joint_cfg_thresh=None):\n", + "lineno": 565, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 566, + "end_region_line": 632, + "line": " \"\"\"\n", + "lineno": 566, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 566, + "start_region_line": 565 + }, + { + "end_outermost_loop": 567, + "end_region_line": 632, + "line": " Check for interference between cube pairs\n", + "lineno": 567, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 567, + "start_region_line": 565 + }, + { + "end_outermost_loop": 568, + "end_region_line": 632, + "line": " \"\"\"\n", + "lineno": 568, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 568, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # if self.prev_loop_start_ts:\n", + "lineno": 569, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # print(f\"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms\")\n", + "lineno": 570, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 571, + "end_region_line": 632, + "line": " \n", + "lineno": 571, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 571, + "start_region_line": 565 + }, + { + "end_outermost_loop": 573, + "end_region_line": 632, + "line": " if self.urdf is None:\n", + "lineno": 572, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 572, + "start_region_line": 565 + }, + { + "end_outermost_loop": 573, + "end_region_line": 632, + "line": " return\n", + "lineno": 573, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 573, + "start_region_line": 565 + }, + { + "end_outermost_loop": 574, + "end_region_line": 632, + "line": "\n", + "lineno": 574, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 574, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # if cfg is None:\n", + "lineno": 575, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # cfg = self.get_joint_configuration(braked=True)#_braked()\n", + "lineno": 576, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 577, + "end_region_line": 632, + "line": "\n", + "lineno": 577, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 577, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # Update forward kinematics of links\n", + "lineno": 578, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 579, + "end_region_line": 632, + "line": " _cfg = cfg.get()\n", + "lineno": 579, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 579, + "start_region_line": 565 + }, + { + "end_outermost_loop": 580, + "end_region_line": 632, + "line": " lfk = self.urdf.link_fk(cfg=_cfg, links=self.collision_links.keys(), use_names=True)\n", + "lineno": 580, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 580, + "start_region_line": 565 + }, + { + "end_outermost_loop": 581, + "end_region_line": 632, + "line": "\n", + "lineno": 581, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 581, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # Update poses of links based on fk\n", + "lineno": 582, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 585, + "end_region_line": 585, + "line": " for link_name in lfk: \n", + "lineno": 583, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 583, + "start_region_line": 583 + }, + { + "end_outermost_loop": 585, + "end_region_line": 585, + "line": " self.collision_links[link_name].set_pose(lfk[link_name].dot(\n", + "lineno": 584, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 583, + "start_region_line": 583 + }, + { + "end_outermost_loop": 585, + "end_region_line": 585, + "line": " self.collision_links[link_name].points.transpose()).transpose())\n", + "lineno": 585, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 583, + "start_region_line": 583 + }, + { + "end_outermost_loop": 586, + "end_region_line": 632, + "line": "\n", + "lineno": 586, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 586, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # Reset each link / joint status before updating\n", + "lineno": 587, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 590, + "end_region_line": 590, + "line": " for link_name in self.collision_links:\n", + "lineno": 588, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 588, + "start_region_line": 588 + }, + { + "end_outermost_loop": 590, + "end_region_line": 590, + "line": " self.collision_links[link_name].was_in_collision =self.collision_links[link_name].in_collision\n", + "lineno": 589, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 588, + "start_region_line": 588 + }, + { + "end_outermost_loop": 590, + "end_region_line": 590, + "line": " self.collision_links[link_name].in_collision=False\n", + "lineno": 590, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 588, + "start_region_line": 588 + }, + { + "end_outermost_loop": 596, + "end_region_line": 596, + "line": " for joint_name in self.collision_joints:\n", + "lineno": 591, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 591 + }, + { + "end_outermost_loop": 596, + "end_region_line": 596, + "line": " self.collision_joints[joint_name].active_collisions=[]\n", + "lineno": 592, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 591 + }, + { + "end_outermost_loop": 596, + "end_region_line": 596, + "line": " self.collision_joints[joint_name].was_in_collision = self.collision_joints[joint_name].in_collision.copy()\n", + "lineno": 593, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 591 + }, + { + "end_outermost_loop": 596, + "end_region_line": 596, + "line": " # self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False, 'min_dist_pair':None}\n", + "lineno": 594, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 591 + }, + { + "end_outermost_loop": 596, + "end_region_line": 596, + "line": " self.collision_joints[joint_name].in_collision['pos'] = False\n", + "lineno": 595, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 591 + }, + { + "end_outermost_loop": 596, + "end_region_line": 596, + "line": " self.collision_joints[joint_name].in_collision['neg'] = False\n", + "lineno": 596, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 591, + "start_region_line": 591 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # Test for collisions across all collision pairs\n", + "lineno": 597, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " for pair_name in self.collision_pairs:\n", + "lineno": 598, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " cp=self.collision_pairs[pair_name]\n", + "lineno": 599, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " if cp.is_valid:\n", + "lineno": 600, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " cp.was_in_collision=cp.in_collision\n", + "lineno": 601, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " if cp.detect_as=='pts':\n", + "lineno": 602, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose)\n", + "lineno": 603, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " # cp.in_collision=check_AABB_in_AABB_from_pts(pts1=cp.link_cube.pose,pts2=cp.link_pts.pose)\n", + "lineno": 604, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " elif cp.detect_as=='edges':\n", + "lineno": 605, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose)\n", + "lineno": 606, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " else:\n", + "lineno": 607, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " cp.in_collision =False\n", + "lineno": 608, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " #cp.pretty_print()\n", + "lineno": 609, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": "\n", + "lineno": 610, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " #Propogate to links\n", + "lineno": 611, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " self.collision_links[cp.link_cube.name].in_collision=self.collision_links[cp.link_cube.name].in_collision or cp.in_collision\n", + "lineno": 612, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " self.collision_links[cp.link_pts.name].in_collision =self.collision_links[cp.link_pts.name].in_collision or cp.in_collision\n", + "lineno": 613, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": "\n", + "lineno": 614, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " # Beep on new collision\n", + "lineno": 615, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " if not self.collision_pairs[pair_name].was_in_collision and self.collision_pairs[pair_name].in_collision:\n", + "lineno": 616, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " print(f'New collision pair event: {pair_name}' )\n", + "lineno": 617, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 618, + "end_region_line": 618, + "line": " self.alert()\n", + "lineno": 618, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 598, + "start_region_line": 598 + }, + { + "end_outermost_loop": 619, + "end_region_line": 632, + "line": "\n", + "lineno": 619, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 619, + "start_region_line": 565 + }, + { + "end_outermost_loop": 620, + "end_region_line": 632, + "line": " normalized_joint_status_thresh = joint_cfg_thresh.value\n", + "lineno": 620, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 620, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # print(f\"From Process: Normal CFG = {normalized_joint_status_thresh}\")\n", + "lineno": 621, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " #Now update joint state\n", + "lineno": 622, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " for joint_name in self.collision_joints:\n", + "lineno": 623, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 623 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " cj = self.collision_joints[joint_name]\n", + "lineno": 624, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 623 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " cj.update_last_joint_cfg_thresh(normalized_joint_status_thresh)\n", + "lineno": 625, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 623 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " for cp in cj.collision_pairs:\n", + "lineno": 626, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 626 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " if cp.in_collision:\n", + "lineno": 627, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 626 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " cj.active_collisions.append(cp.name) #Add collision to joint\n", + "lineno": 628, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 626 + }, + { + "end_outermost_loop": 629, + "end_region_line": 629, + "line": " cj.in_collision[cj.collision_dirs[cp.name]] = True\n", + "lineno": 629, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 623, + "start_region_line": 626 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # print(f\"From Process: {joint_name} = {self.collision_joints[joint_name].in_collision}\")\n", + "lineno": 630, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " # self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision)\n", + "lineno": 631, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 565, + "start_region_line": 565 + }, + { + "end_outermost_loop": 632, + "end_region_line": 632, + "line": " self.prev_loop_start_ts = time.perf_counter()\n", + "lineno": 632, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 632, + "start_region_line": 565 + }, + { + "end_outermost_loop": 633, + "end_region_line": 651, + "line": " \n", + "lineno": 633, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 633, + "start_region_line": 478 + }, + { + "end_outermost_loop": 635, + "end_region_line": 635, + "line": " def alert(self):\n", + "lineno": 634, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 634, + "start_region_line": 634 + }, + { + "end_outermost_loop": 635, + "end_region_line": 635, + "line": " threading.Thread(target=chime.warning,daemon=True).start()\n", + "lineno": 635, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 635, + "start_region_line": 634 + }, + { + "end_outermost_loop": 636, + "end_region_line": 651, + "line": "\n", + "lineno": 636, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 636, + "start_region_line": 478 + }, + { + "end_outermost_loop": 643, + "end_region_line": 643, + "line": " def is_link_in_collsion(self,link_name):\n", + "lineno": 637, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 637, + "start_region_line": 637 + }, + { + "end_outermost_loop": 639, + "end_region_line": 643, + "line": " if self.urdf is None:\n", + "lineno": 638, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 638, + "start_region_line": 637 + }, + { + "end_outermost_loop": 639, + "end_region_line": 643, + "line": " return False\n", + "lineno": 639, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 639, + "start_region_line": 637 + }, + { + "end_outermost_loop": 640, + "end_region_line": 643, + "line": " try:\n", + "lineno": 640, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 640, + "start_region_line": 637 + }, + { + "end_outermost_loop": 641, + "end_region_line": 643, + "line": " return self.collision_links[link_name].in_collision\n", + "lineno": 641, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 641, + "start_region_line": 637 + }, + { + "end_outermost_loop": 642, + "end_region_line": 643, + "line": " except KeyError: #Not all links will be monitored\n", + "lineno": 642, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 642, + "start_region_line": 637 + }, + { + "end_outermost_loop": 643, + "end_region_line": 643, + "line": " return False\n", + "lineno": 643, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 643, + "start_region_line": 637 + }, + { + "end_outermost_loop": 644, + "end_region_line": 651, + "line": "\n", + "lineno": 644, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 644, + "start_region_line": 478 + }, + { + "end_outermost_loop": 651, + "end_region_line": 651, + "line": " def was_link_in_collsion(self,link_name):\n", + "lineno": 645, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 645, + "start_region_line": 645 + }, + { + "end_outermost_loop": 647, + "end_region_line": 651, + "line": " if self.urdf is None:\n", + "lineno": 646, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 646, + "start_region_line": 645 + }, + { + "end_outermost_loop": 647, + "end_region_line": 651, + "line": " return False\n", + "lineno": 647, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 647, + "start_region_line": 645 + }, + { + "end_outermost_loop": 648, + "end_region_line": 651, + "line": " try:\n", + "lineno": 648, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 648, + "start_region_line": 645 + }, + { + "end_outermost_loop": 649, + "end_region_line": 651, + "line": " return self.collision_links[link_name].was_in_collision\n", + "lineno": 649, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 649, + "start_region_line": 645 + }, + { + "end_outermost_loop": 650, + "end_region_line": 651, + "line": " except KeyError: #Not all links will be monitored\n", + "lineno": 650, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 650, + "start_region_line": 645 + }, + { + "end_outermost_loop": 651, + "end_region_line": 651, + "line": " return False\n", + "lineno": 651, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 651, + "start_region_line": 645 + }, + { + "end_outermost_loop": 652, + "end_region_line": 652, + "line": "\n", + "lineno": 652, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 652, + "start_region_line": 652 + }, + { + "end_outermost_loop": 653, + "end_region_line": 653, + "line": "\n", + "lineno": 653, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 653, + "start_region_line": 653 + }, + { + "end_outermost_loop": 676, + "end_region_line": 676, + "line": "class RobotCollision(Device):\n", + "lineno": 654, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 654, + "start_region_line": 654 + }, + { + "end_outermost_loop": 655, + "end_region_line": 676, + "line": " \"\"\"\n", + "lineno": 655, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 655, + "start_region_line": 654 + }, + { + "end_outermost_loop": 656, + "end_region_line": 676, + "line": " Deprecated. Keep shell class (for now) to avoid breaking legacy code.\n", + "lineno": 656, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 656, + "start_region_line": 654 + }, + { + "end_outermost_loop": 657, + "end_region_line": 676, + "line": " \"\"\"\n", + "lineno": 657, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 657, + "start_region_line": 654 + }, + { + "end_outermost_loop": 663, + "end_region_line": 663, + "line": " def __init__(self,robot):\n", + "lineno": 658, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 658, + "start_region_line": 658 + }, + { + "end_outermost_loop": 659, + "end_region_line": 663, + "line": " print('-----------')\n", + "lineno": 659, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 659, + "start_region_line": 658 + }, + { + "end_outermost_loop": 660, + "end_region_line": 663, + "line": " print('RobotCollision has been deprecated.')\n", + "lineno": 660, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 660, + "start_region_line": 658 + }, + { + "end_outermost_loop": 661, + "end_region_line": 663, + "line": " print('Use RobotCollisionMgmt instead')\n", + "lineno": 661, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 661, + "start_region_line": 658 + }, + { + "end_outermost_loop": 662, + "end_region_line": 663, + "line": " print('See KB post forum.hello-robot.com/xxx')\n", + "lineno": 662, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 662, + "start_region_line": 658 + }, + { + "end_outermost_loop": 663, + "end_region_line": 663, + "line": " print('-----------')\n", + "lineno": 663, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 663, + "start_region_line": 658 + }, + { + "end_outermost_loop": 664, + "end_region_line": 676, + "line": "\n", + "lineno": 664, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 664, + "start_region_line": 654 + }, + { + "end_outermost_loop": 666, + "end_region_line": 666, + "line": " def startup(self):\n", + "lineno": 665, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 665, + "start_region_line": 665 + }, + { + "end_outermost_loop": 666, + "end_region_line": 666, + "line": " pass\n", + "lineno": 666, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 666, + "start_region_line": 665 + }, + { + "end_outermost_loop": 667, + "end_region_line": 676, + "line": "\n", + "lineno": 667, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 667, + "start_region_line": 654 + }, + { + "end_outermost_loop": 669, + "end_region_line": 669, + "line": " def enable_model(self,name):\n", + "lineno": 668, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 668, + "start_region_line": 668 + }, + { + "end_outermost_loop": 669, + "end_region_line": 669, + "line": " pass\n", + "lineno": 669, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 669, + "start_region_line": 668 + }, + { + "end_outermost_loop": 670, + "end_region_line": 676, + "line": "\n", + "lineno": 670, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 670, + "start_region_line": 654 + }, + { + "end_outermost_loop": 672, + "end_region_line": 672, + "line": " def disable_model(self,name):\n", + "lineno": 671, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 671, + "start_region_line": 671 + }, + { + "end_outermost_loop": 672, + "end_region_line": 672, + "line": " pass\n", + "lineno": 672, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 672, + "start_region_line": 671 + }, + { + "end_outermost_loop": 673, + "end_region_line": 676, + "line": "\n", + "lineno": 673, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 673, + "start_region_line": 654 + }, + { + "end_outermost_loop": 674, + "end_region_line": 676, + "line": "\n", + "lineno": 674, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 674, + "start_region_line": 654 + }, + { + "end_outermost_loop": 676, + "end_region_line": 676, + "line": " def step(self):\n", + "lineno": 675, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 675, + "start_region_line": 675 + }, + { + "end_outermost_loop": 676, + "end_region_line": 676, + "line": " pass", + "lineno": 676, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 676, + "start_region_line": 675 + } + ], + "percent_cpu_time": 0.0 + }, + "/home/hello-robot/repos/stretch_body/tools/bin/stretch_gamepad_teleop.py": { + "functions": [], + "imports": [ + "from __future__ import print_function" + ], + "leaks": {}, + "lines": [ + { + "end_outermost_loop": 1, + "end_region_line": 1, + "line": "#!/usr/bin/env python3\n", + "lineno": 1, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 1, + "start_region_line": 1 + }, + { + "end_outermost_loop": 2, + "end_region_line": 2, + "line": "from __future__ import print_function\n", + "lineno": 2, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 2, + "start_region_line": 2 + }, + { + "end_outermost_loop": 3, + "end_region_line": 3, + "line": "from stretch_body.gamepad_teleop import GamePadTeleop\n", + "lineno": 3, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.09875386199185372, + "n_cpu_percent_c": 72.66747242063059, + "n_cpu_percent_python": 8.717201517414399, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 8.294900571721342, + "n_usage_fraction": 0.0, + "start_outermost_loop": 3, + "start_region_line": 3 + }, + { + "end_outermost_loop": 4, + "end_region_line": 4, + "line": "from stretch_body.hello_utils import print_stretch_re_use\n", + "lineno": 4, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 4, + "start_region_line": 4 + }, + { + "end_outermost_loop": 5, + "end_region_line": 5, + "line": "\n", + "lineno": 5, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 5, + "start_region_line": 5 + }, + { + "end_outermost_loop": 6, + "end_region_line": 6, + "line": "print_stretch_re_use()\n", + "lineno": 6, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 6, + "start_region_line": 6 + }, + { + "end_outermost_loop": 7, + "end_region_line": 7, + "line": "\n", + "lineno": 7, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 7, + "start_region_line": 7 + }, + { + "end_outermost_loop": 11, + "end_region_line": 8, + "line": "if __name__ == \"__main__\":\n", + "lineno": 8, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 8, + "start_region_line": 8 + }, + { + "end_outermost_loop": 9, + "end_region_line": 9, + "line": " gamepad_teleop = GamePadTeleop()\n", + "lineno": 9, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.04672881967450086, + "n_cpu_percent_c": 0.09829035717247284, + "n_cpu_percent_python": 0.13811137445747126, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.07978661487207629, + "n_usage_fraction": 0.0, + "start_outermost_loop": 9, + "start_region_line": 9 + }, + { + "end_outermost_loop": 10, + "end_region_line": 10, + "line": " gamepad_teleop.startup()\n", + "lineno": 10, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.04220983946906068, + "n_cpu_percent_c": 3.01378266188074, + "n_cpu_percent_python": 3.742653239676631, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 1, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 3.2478012421744835, + "n_usage_fraction": 0.0, + "start_outermost_loop": 10, + "start_region_line": 10 + }, + { + "end_outermost_loop": 11, + "end_region_line": 11, + "line": " gamepad_teleop.mainloop()\n", + "lineno": 11, + "memory_samples": [], + "n_avg_mb": 0.0, + "n_copy_mb_s": 0.0, + "n_core_utilization": 0.0, + "n_cpu_percent_c": 0.0, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_mallocs": 0, + "n_peak_mb": 0.0, + "n_python_fraction": 0, + "n_sys_percent": 0.0, + "n_usage_fraction": 0.0, + "start_outermost_loop": 11, + "start_region_line": 11 + } + ], + "percent_cpu_time": 99.99999999999999 + } + }, + "gpu": false, + "growth_rate": 101.13007515194356, + "max_footprint_fname": "/home/hello-robot/repos/stretch_body/body/stretch_body/dynamixel_XL430.py", + "max_footprint_lineno": 447, + "max_footprint_mb": 50.60268783569336, + "max_footprint_python_fraction": 0.999702, + "memory": true, + "program": "/home/hello-robot/repos/stretch_body/tools/bin/stretch_gamepad_teleop.py", + "samples": [ + [ + 657344651, + 10.034314155578613 + ], + [ + 657349281, + 10.128557205200195 + ], + [ + 657350014, + 10.222800254821777 + ], + [ + 889609813, + 20.2229585647583 + ], + [ + 889611725, + 20.317201614379883 + ], + [ + 1035168358, + 30.317264556884766 + ], + [ + 1035171003, + 30.411507606506348 + ], + [ + 1238979099, + 40.41176986694336 + ], + [ + 1238981666, + 40.50601291656494 + ], + [ + 1779370335, + 50.50844478607178 + ], + [ + 1779372799, + 50.60268783569336 + ] + ], + "stacks": [] +} From 6c4f107906848dcc4eeda3c59fc926463e3dd49c Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 4 Apr 2024 23:03:20 -0700 Subject: [PATCH 33/43] Improvements --- body/stretch_body/end_of_arm_tools.py | 2 +- body/stretch_body/gamepad_teleop.py | 2 +- body/stretch_body/robot_collision.py | 27 +++++++++++++++++++++++++++ body/stretch_body/robot_params_SE3.py | 27 +++++++++++---------------- 4 files changed, 40 insertions(+), 18 deletions(-) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index 741fbc3a..c7eadba7 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -232,4 +232,4 @@ def home(self): self.motors['wrist_yaw'].home() self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) self.motors['wrist_yaw'].move_to(1.57) - time.sleep(1) \ No newline at end of file + time.sleep(2) \ No newline at end of file diff --git a/body/stretch_body/gamepad_teleop.py b/body/stretch_body/gamepad_teleop.py index d9b109f2..c915d675 100644 --- a/body/stretch_body/gamepad_teleop.py +++ b/body/stretch_body/gamepad_teleop.py @@ -53,7 +53,7 @@ def __init__(self, robot_instance = True, print_dongle_status = True, lock=None, self.end_of_arm_tool =RobotParams().get_params()[1]['robot']['tool'] - self.sleep = 1/50 + self.sleep = 1/15 self.print_mode = False self._i = 0 diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index dee679b5..23ac1c43 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -91,6 +91,7 @@ def check_AABB_in_AABB_from_pts(pts1, pts2): """ Check if an AABB intersects another AABB from the given two sets of points """ + print(pts1.shape,pts2.shape) xmax_1 = max(pts1[:, 0]) xmin_1 = min(pts1[:, 0]) ymax_1 = max(pts1[:, 1]) @@ -132,8 +133,34 @@ def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): mid2 = np.add(mid, set[1])/2 if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]): return True + + # TODO: Barycentric Coordinates based points interpolation which is multiple folds efficient + # if check_AABB_in_AABB_from_pts(cube,sample_points_on_triangle(points[0],points[1],points[2],50)): + # return True + return False +def sample_points_on_triangle(A, B, C, N): + """ + Sample N points on the triangle formed by 3D points A, B, and C. + + Parameters: + A, B, C: Arrays representing the 3D coordinates of the triangle's vertices. + N: The number of points to sample. + + Returns: + points: An array of shape (N, 3) containing N sampled points on the triangle. + """ + # Generate N sets of barycentric coordinates using the Dirichlet distribution + barycentric_coords = np.random.dirichlet([1, 1, 1], N) + + # Convert barycentric coordinates to Cartesian coordinates + points = barycentric_coords[:, 0][:, np.newaxis] * A \ + + barycentric_coords[:, 1][:, np.newaxis] * B \ + + barycentric_coords[:, 2][:, np.newaxis] * C + + return points + # def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): # for points in mesh_triangles: # set_1 = [points[0],points[1]] diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 4f450313..76da9495 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -277,7 +277,7 @@ 'stretch_gripper':0.0 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 2.0, 'wrist_yaw': 2.0, 'wrist_roll': 2.0, 'stretch_gripper': 0.0}, + 'k_brake_distance': {'wrist_pitch': 3.0, 'wrist_yaw': 2.0, 'wrist_roll': 2.0, 'stretch_gripper': 0.0}, 'collision_pairs': { 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, @@ -325,7 +325,9 @@ 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}], + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, + {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, + {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_finger_right_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_finger_left_TO_base_link'}, @@ -337,7 +339,7 @@ {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, - {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, + {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, {'motion_dir': 'neg','collision_pair': 'link_gripper_finger_right_TO_link_head_tilt'}]}}, 'devices': { @@ -425,18 +427,12 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.25, 'wrist_yaw':0.25, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 2.25, 'wrist_yaw':2.25, 'wrist_roll': 0.25}, 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, - - # 'link_DW3_tablet_12in_TO_base_link': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'base_link', 'detect_as': 'pts'}, - # 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l0','detect_as': 'pts'}, - # 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_arm_l1','detect_as': 'pts'}, - # 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_head_tilt','detect_as': 'pts'}, - 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}}, @@ -450,6 +446,7 @@ {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'wrist_pitch': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], @@ -458,13 +455,11 @@ {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}], 'wrist_yaw': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, - {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}], - - 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}, + {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}] @@ -925,7 +920,7 @@ 'robot_collision_mgmt': { 'max_mesh_points': 48, 'SE3': { - 'k_brake_distance': {'lift': 0.75, 'arm': 0.125, 'wrist_yaw': 0.125, 'head_pan': 0.125, 'head_tilt': 0.125}, + 'k_brake_distance': {'lift': 1.75, 'arm': 1.125, 'wrist_yaw': 0.125, 'head_pan': 0.125, 'head_tilt': 0.125}, 'collision_pairs':{'link_head_tilt_TO_link_arm_l4':{'link_pts': 'link_head_tilt', 'link_cube': 'link_arm_l4','detect_as':'pts'}, 'link_arm_l0_TO_base_link':{'link_pts': 'link_arm_l0', 'link_cube': 'base_link','detect_as':'pts'}}, From e731bce82c3aa3af466942d68e332d59d7583080 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 12 Apr 2024 19:38:41 -0700 Subject: [PATCH 34/43] Improvements --- body/stretch_body/robot_params_SE3.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 76da9495..fa719349 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -277,7 +277,7 @@ 'stretch_gripper':0.0 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 3.0, 'wrist_yaw': 2.0, 'wrist_roll': 2.0, 'stretch_gripper': 0.0}, + 'k_brake_distance': {'wrist_pitch': 3.0, 'wrist_yaw': 4.0, 'wrist_roll': 2.0, 'stretch_gripper': 0.0}, 'collision_pairs': { 'link_gripper_fingertip_left_TO_link_lift': {'link_pts': 'link_gripper_fingertip_left', 'link_cube': 'link_lift','detect_as': 'edges'}, 'link_gripper_s3_body_TO_base_link': {'link_pts': 'link_gripper_s3_body', 'link_cube': 'base_link','detect_as': 'edges'}, @@ -427,7 +427,7 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 2.25, 'wrist_yaw':2.25, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 3.5, 'wrist_yaw':3, 'wrist_roll': 0.25}, 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, From 0bede1405899dc67b32c06b1eb6d4fb12d99328b Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Sun, 14 Apr 2024 22:26:45 -0700 Subject: [PATCH 35/43] Implement barycentric triangle edge points sampling --- body/stretch_body/dynamixel_hello_XL430.py | 4 +- body/stretch_body/prismatic_joint.py | 15 +++-- body/stretch_body/robot_collision.py | 73 +++++++++++++--------- body/stretch_body/robot_params_SE3.py | 4 +- 4 files changed, 61 insertions(+), 35 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index d60c7924..0f0d21e3 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -460,7 +460,9 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: - if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: + # if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: + # self.in_collision_stop[dir] = False + if abs(self.status['vel'])<0.001: self.in_collision_stop[dir] = False def get_braking_distance(self,acc=None): diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 87d81c53..99a55e36 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -44,6 +44,7 @@ def __init__(self,name,usb=None): self.total_range = abs(self.params['range_m'][1] - self.params['range_m'][0]) self.in_collision_stop = {'pos': False, 'neg': False} self.ts_collision_stop = {'pos': 0, 'neg': 0} + self.collision_till_zero_vel_counter = 0 # ########### Device Methods ############# def startup(self, threaded=True): @@ -591,7 +592,6 @@ def step_collision_avoidance(self,in_collision): # if in_collision['pos'] and in_collision['neg']: # print('Invalid IN_COLLISION for joint %s'%self.name) # return - for dir in ['pos','neg']: if in_collision[dir] and not self.in_collision_stop[dir]: # Stop current motion @@ -599,12 +599,19 @@ def step_collision_avoidance(self,in_collision): self.push_command() self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() - self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] + self.collision_till_zero_vel_counter = 0 + # self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: - if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001 and abs(self.status['vel'])<0.001: - self.in_collision_stop[dir] = False + # if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001 and abs(self.status['vel'])<0.001: + # self.in_collision_stop[dir] = False + self.in_collision_stop[dir] = False + # if abs(self.status['vel'])<0.001: + # self.collision_till_zero_vel_counter = self.collision_till_zero_vel_counter + 1 + # if self.collision_till_zero_vel_counter>50: + # self.in_collision_stop[dir] = False + # self.collision_till_zero_vel_counter = 0 diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 23ac1c43..d498a2a2 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -122,42 +122,54 @@ def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): mesh_triangles.pop(random_index) # Three triangle sides - set_1 = [points[0],points[1]] - set_2 = [points[0],points[2]] - set_3 = [points[1],points[2]] + # set_1 = [points[0],points[1]] + # set_2 = [points[0],points[2]] + # set_3 = [points[1],points[2]] # Sample three equilinear points on each side and test for AABB intersection - for set in [set_1,set_2,set_3]: - mid = np.add(set[0], set[1])/2 - mid1 = np.add(mid, set[0])/2 - mid2 = np.add(mid, set[1])/2 - if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]): - return True + # for set in [set_1,set_2,set_3]: + # mid = np.add(set[0], set[1])/2 + # mid1 = np.add(mid, set[0])/2 + # mid2 = np.add(mid, set[1])/2 + # if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]): + # return True # TODO: Barycentric Coordinates based points interpolation which is multiple folds efficient # if check_AABB_in_AABB_from_pts(cube,sample_points_on_triangle(points[0],points[1],points[2],50)): # return True + if check_pts_in_AABB_cube(cube,sample_points_on_triangle_edges(points)): + return True return False -def sample_points_on_triangle(A, B, C, N): +def get_triangle_edge_barycentric_coords(N): """ - Sample N points on the triangle formed by 3D points A, B, and C. - - Parameters: - A, B, C: Arrays representing the 3D coordinates of the triangle's vertices. - N: The number of points to sample. - - Returns: - points: An array of shape (N, 3) containing N sampled points on the triangle. + Generate a Barycentric coordinate vectors of N points of a triangle edges + This matrix is a constant. """ - # Generate N sets of barycentric coordinates using the Dirichlet distribution - barycentric_coords = np.random.dirichlet([1, 1, 1], N) - + barycentric_coords = [] + nums = np.linspace(0,1,num=N) + for n1 in nums: + for n2 in nums: + for n3 in nums: + c = False + if abs(n3)<0.001: + c = True + if abs(n2)<0.001: + c = True + if abs(n1)<0.001: + c = True + if c and abs((1-n2-n3)-n1)<0.001: + barycentric_coords.append([n1,n2,n3]) + + return np.array(barycentric_coords) + +BARYCENTRIC_COORDS = get_triangle_edge_barycentric_coords(7) +def sample_points_on_triangle_edges(points): # Convert barycentric coordinates to Cartesian coordinates - points = barycentric_coords[:, 0][:, np.newaxis] * A \ - + barycentric_coords[:, 1][:, np.newaxis] * B \ - + barycentric_coords[:, 2][:, np.newaxis] * C + points = BARYCENTRIC_COORDS[:, 0][:, np.newaxis] * points[0] \ + + BARYCENTRIC_COORDS[:, 1][:, np.newaxis] * points[1] \ + + BARYCENTRIC_COORDS[:, 2][:, np.newaxis] * points[2] return points @@ -352,6 +364,7 @@ def __init__(self, joint_name): self.collision_dirs={} self.in_collision={'pos':False,'neg':False, 'last_joint_cfg_thresh':1000} self.was_in_collision = {'pos': False, 'neg': False} + self.last_in_collision_cnt = 0 def add_collision_pair(self,motion_dir, collision_pair): self.collision_pairs.append(collision_pair) @@ -432,9 +445,8 @@ def step(self): self.shared_is_running.value = self.running if self.running: self.shared_joint_cfg_thresh.value = self.get_normalized_cfg_threshold() - self.shared_joint_cfg.put(self.get_joint_configuration(braked=True)) + self.shared_joint_cfg.put(self.get_joint_configuration(braked=False)) self.collision_status.update(self.shared_collision_status.get()) - start = time.perf_counter() for j in self.collision_status.keys(): self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j]) except (BrokenPipeError,ConnectionResetError): @@ -619,8 +631,13 @@ def step(self,cfg=None, joint_cfg_thresh=None): self.collision_joints[joint_name].active_collisions=[] self.collision_joints[joint_name].was_in_collision = self.collision_joints[joint_name].in_collision.copy() # self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False, 'min_dist_pair':None} - self.collision_joints[joint_name].in_collision['pos'] = False - self.collision_joints[joint_name].in_collision['neg'] = False + print(f"[{joint_name}] Was in Collision cnt: {self.collision_joints[joint_name].last_in_collision_cnt}") + if self.collision_joints[joint_name].in_collision['pos'] or self.collision_joints[joint_name].in_collision['neg']: + self.collision_joints[joint_name].last_in_collision_cnt = self.collision_joints[joint_name].last_in_collision_cnt + 1 + if self.collision_joints[joint_name].last_in_collision_cnt > 100: + self.collision_joints[joint_name].in_collision['pos'] = False + self.collision_joints[joint_name].in_collision['neg'] = False + self.collision_joints[joint_name].last_in_collision_cnt = 0 # Test for collisions across all collision pairs for pair_name in self.collision_pairs: cp=self.collision_pairs[pair_name] diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index fa719349..8aa6e2fd 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -325,7 +325,7 @@ 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, + # {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}], 'wrist_yaw': [{'motion_dir': 'pos', 'collision_pair': 'link_gripper_fingertip_left_TO_link_lift'}, @@ -333,7 +333,7 @@ {'motion_dir': 'pos', 'collision_pair': 'link_gripper_finger_left_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_link_arm_l1'}, - {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, + # {'motion_dir': 'pos','collision_pair': 'link_gripper_s3_body_TO_link_head_tilt'}, {'motion_dir': 'pos', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_gripper_s3_body_TO_base_link'}, {'motion_dir': 'pos','collision_pair': 'link_gripper_finger_left_TO_link_head_tilt'}, From 87bb773df188cd0bfab5e5f96d8a969e35252505 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Sun, 14 Apr 2024 23:05:25 -0700 Subject: [PATCH 36/43] clean up --- body/stretch_body/dynamixel_hello_XL430.py | 7 +-- body/stretch_body/prismatic_joint.py | 2 +- body/stretch_body/robot_collision.py | 61 +++++++--------------- 3 files changed, 24 insertions(+), 46 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 0f0d21e3..9544e808 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -456,14 +456,15 @@ def step_collision_avoidance(self,in_collision): self.quick_stop() self.in_collision_stop[dir] = True # self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] - self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] + # self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: + self.in_collision_stop[dir] = False # if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: # self.in_collision_stop[dir] = False - if abs(self.status['vel'])<0.001: - self.in_collision_stop[dir] = False + # if abs(self.status['vel'])<0.001: + # self.in_collision_stop[dir] = False def get_braking_distance(self,acc=None): """Compute distance to brake the joint from the current velocity""" diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index 99a55e36..da704e4b 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -604,9 +604,9 @@ def step_collision_avoidance(self,in_collision): #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: + self.in_collision_stop[dir] = False # if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001 and abs(self.status['vel'])<0.001: # self.in_collision_stop[dir] = False - self.in_collision_stop[dir] = False # if abs(self.status['vel'])<0.001: # self.collision_till_zero_vel_counter = self.collision_till_zero_vel_counter + 1 # if self.collision_till_zero_vel_counter>50: diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index d498a2a2..88f8f089 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -120,32 +120,15 @@ def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): random_index = random.randint(0, len(mesh_triangles) - 1) points = mesh_triangles[random_index] mesh_triangles.pop(random_index) - - # Three triangle sides - # set_1 = [points[0],points[1]] - # set_2 = [points[0],points[2]] - # set_3 = [points[1],points[2]] - - # Sample three equilinear points on each side and test for AABB intersection - # for set in [set_1,set_2,set_3]: - # mid = np.add(set[0], set[1])/2 - # mid1 = np.add(mid, set[0])/2 - # mid2 = np.add(mid, set[1])/2 - # if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]): - # return True - - # TODO: Barycentric Coordinates based points interpolation which is multiple folds efficient - # if check_AABB_in_AABB_from_pts(cube,sample_points_on_triangle(points[0],points[1],points[2],50)): - # return True - - if check_pts_in_AABB_cube(cube,sample_points_on_triangle_edges(points)): + # Barycentric Coordinates based points based edge points interpolation + if check_pts_in_AABB_cube(cube,sample_points_on_triangle_edges(np.array(points))): return True return False def get_triangle_edge_barycentric_coords(N): """ Generate a Barycentric coordinate vectors of N points of a triangle edges - This matrix is a constant. + This matrix is to be used as a constant. """ barycentric_coords = [] nums = np.linspace(0,1,num=N) @@ -164,32 +147,24 @@ def get_triangle_edge_barycentric_coords(N): return np.array(barycentric_coords) -BARYCENTRIC_COORDS = get_triangle_edge_barycentric_coords(7) +BARYCENTRIC_COORDS = get_triangle_edge_barycentric_coords(7) # Sample a NX3 Barycentric Coord vector matrix + def sample_points_on_triangle_edges(points): # Convert barycentric coordinates to Cartesian coordinates points = BARYCENTRIC_COORDS[:, 0][:, np.newaxis] * points[0] \ + BARYCENTRIC_COORDS[:, 1][:, np.newaxis] * points[1] \ + BARYCENTRIC_COORDS[:, 2][:, np.newaxis] * points[2] - return points -# def check_mesh_triangle_edges_in_cube(mesh_triangles,cube): -# for points in mesh_triangles: -# set_1 = [points[0],points[1]] -# set_2 = [points[0],points[2]] -# set_3 = [points[1],points[2]] -# for set in [set_1,set_2,set_3]: -# mid = np.add(set[0],set[1])/2 -# if check_pts_in_AABB_cube(cube,[mid]): -# return True -# mid1 = np.add(mid, set[0])/2 -# if check_pts_in_AABB_cube(cube,[mid1]): -# return True -# mid2 = np.add(mid, set[1])/2 -# if check_pts_in_AABB_cube(cube,[mid2]): -# return True -# return False - +def scale_cuboid_points(vertices,scale_factor): + # Calculate the centroid of the cuboid + centroid = np.mean(vertices, axis=0) + + # Scale the vertices relative to the centroid + scaled_vertices = centroid + scale_factor * (vertices - centroid) + + # Convert the scaled vertices back to a list of tuples and return + return scaled_vertices def check_ppd_edges_in_cube(cube,cube_edge,edge_indices): if len(edge_indices)!=12: @@ -630,8 +605,9 @@ def step(self,cfg=None, joint_cfg_thresh=None): for joint_name in self.collision_joints: self.collision_joints[joint_name].active_collisions=[] self.collision_joints[joint_name].was_in_collision = self.collision_joints[joint_name].in_collision.copy() - # self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False, 'min_dist_pair':None} - print(f"[{joint_name}] Was in Collision cnt: {self.collision_joints[joint_name].last_in_collision_cnt}") + + # print(f"[{joint_name}] Was in Collision cnt: {self.collision_joints[joint_name].last_in_collision_cnt}") + # Release Collision Joints in_collision mode onlt after 100 cycles if self.collision_joints[joint_name].in_collision['pos'] or self.collision_joints[joint_name].in_collision['neg']: self.collision_joints[joint_name].last_in_collision_cnt = self.collision_joints[joint_name].last_in_collision_cnt + 1 if self.collision_joints[joint_name].last_in_collision_cnt > 100: @@ -643,11 +619,12 @@ def step(self,cfg=None, joint_cfg_thresh=None): cp=self.collision_pairs[pair_name] if cp.is_valid: cp.was_in_collision=cp.in_collision + cube_scale = 1.2 if cp.detect_as=='pts': cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) # cp.in_collision=check_AABB_in_AABB_from_pts(pts1=cp.link_cube.pose,pts2=cp.link_pts.pose) elif cp.detect_as=='edges': - cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose) + cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(), cube=scale_cuboid_points(cp.link_cube.pose,cube_scale)) else: cp.in_collision =False #cp.pretty_print() From 14ca5688bd8bac9a24cd75cac79de3ba1e149a61 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Sun, 14 Apr 2024 23:48:25 -0700 Subject: [PATCH 37/43] clean up --- body/stretch_body/robot_collision.py | 24 ++++++++++++------------ body/stretch_body/robot_params_SE3.py | 12 ++++++++---- 2 files changed, 20 insertions(+), 16 deletions(-) diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 88f8f089..7fec0164 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -309,13 +309,14 @@ def check_AABB(self,pts): return True class CollisionPair: - def __init__(self, name,link_pts,link_cube,detect_as): + def __init__(self, name,link_pts,link_cube,detect_as, cube_scale=1.2): self.in_collision=False self.was_in_collision=False self.link_cube=link_cube self.link_pts=link_pts self.detect_as=detect_as self.name=name + self.cube_scale = cube_scale self.is_valid=self.link_cube.is_valid and self.link_pts.is_valid and self.link_cube.is_aabb if not self.is_valid: print('Dropping monitor of collision pair %s'%self.name_id) @@ -366,7 +367,7 @@ def pretty_print(self): for ac in self.active_collisions: print('Active Collision: %s' % ac) -def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh, exit_event): +def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, exit_event): signal.signal(signal.SIGINT, signal_handler) signal.signal(signal.SIGTERM, signal_handler) collision_compute = RobotCollisionCompute(name) @@ -376,7 +377,7 @@ def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_ while not exit_event.is_set(): try: if shared_is_running.value: - collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh) + collision_compute.step(shared_joint_cfg) for joint_name in collision_compute.collision_joints: collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision shared_collision_status.put(collision_joints_status) @@ -392,7 +393,6 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.robot = robot self.shared_joint_cfg = multiprocessing.Queue() self.shared_collision_status = multiprocessing.Queue() - self.shared_joint_cfg_thresh = multiprocessing.Value(ctypes.c_float, 1000.0) self.shared_is_running = multiprocessing.Value(ctypes.c_bool, False) self.exit_event = multiprocessing.Event() self.collision_compute_proccess = multiprocessing.Process(target=_collision_compute_worker, @@ -400,7 +400,6 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.shared_is_running, self.shared_joint_cfg, self.shared_collision_status, - self.shared_joint_cfg_thresh, self.exit_event,),daemon=True) self.running = False self.robot_params = RobotParams().get_params()[1] @@ -419,7 +418,6 @@ def step(self): try: self.shared_is_running.value = self.running if self.running: - self.shared_joint_cfg_thresh.value = self.get_normalized_cfg_threshold() self.shared_joint_cfg.put(self.get_joint_configuration(braked=False)) self.collision_status.update(self.shared_collision_status.get()) for j in self.collision_status.keys(): @@ -555,6 +553,9 @@ def startup(self,threaded=False): link_pts=self.collision_links[cp['link_pts']], link_cube=self.collision_links[cp['link_cube']], detect_as=cp['detect_as']) + if 'cube_scale' in list(cp.keys()): + print('cp_name',cp['cube_scale']) + self.collision_pairs[cp_name].cube_scale = cp['cube_scale'] #Assign collision pairs to each joint #Include those of standard robot body plus its defined tool @@ -576,7 +577,7 @@ def startup(self,threaded=False): collision_pair=self.collision_pairs[cp['collision_pair']]) - def step(self,cfg=None, joint_cfg_thresh=None): + def step(self,cfg=None): """ Check for interference between cube pairs """ @@ -619,12 +620,13 @@ def step(self,cfg=None, joint_cfg_thresh=None): cp=self.collision_pairs[pair_name] if cp.is_valid: cp.was_in_collision=cp.in_collision - cube_scale = 1.2 if cp.detect_as=='pts': - cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose) + cp.in_collision=check_pts_in_AABB_cube(cube = scale_cuboid_points(cp.link_cube.pose,cp.cube_scale), + pts = cp.link_pts.pose) # cp.in_collision=check_AABB_in_AABB_from_pts(pts1=cp.link_cube.pose,pts2=cp.link_pts.pose) elif cp.detect_as=='edges': - cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(), cube=scale_cuboid_points(cp.link_cube.pose,cube_scale)) + cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles = cp.link_pts.get_triangles(), + cube = scale_cuboid_points(cp.link_cube.pose,cp.cube_scale)) else: cp.in_collision =False #cp.pretty_print() @@ -638,12 +640,10 @@ def step(self,cfg=None, joint_cfg_thresh=None): print(f'New collision pair event: {pair_name} [{time.time()}]' ) self.alert() - normalized_joint_status_thresh = joint_cfg_thresh.value # print(f"From Process: Normal CFG = {normalized_joint_status_thresh}") #Now update joint state for joint_name in self.collision_joints: cj = self.collision_joints[joint_name] - cj.update_last_joint_cfg_thresh(normalized_joint_status_thresh) for cp in cj.collision_pairs: if cp.in_collision: cj.active_collisions.append(cp.name) #Add collision to joint diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 8aa6e2fd..4b879225 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -431,8 +431,8 @@ 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, - 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, - 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, + 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges', 'cube_scale': 2}, + 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges', 'cube_scale': 2}, 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}}, @@ -454,12 +454,16 @@ 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}], - 'wrist_yaw': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + 'wrist_yaw': [ + # {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, + {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + # {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}, - {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], + # {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}, + ], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}] From d3d6487a48ee785f3d0497c0356565b0d8123468 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 15 Apr 2024 01:32:59 -0700 Subject: [PATCH 38/43] Tablet improvements --- body/stretch_body/dynamixel_hello_XL430.py | 3 ++- body/stretch_body/robot_collision.py | 5 ++--- body/stretch_body/robot_params_SE3.py | 18 ++++++++++-------- 3 files changed, 14 insertions(+), 12 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 9544e808..20ac9926 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -453,7 +453,8 @@ def step_collision_avoidance(self,in_collision): if in_collision[dir] and not self.in_collision_stop[dir]: # Stop current motion self.ts_collision_stop[dir] = time.time() - self.quick_stop() + if not self.was_runstopped: + self.quick_stop() self.in_collision_stop[dir] = True # self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] # self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 7fec0164..f29fbe19 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -147,7 +147,7 @@ def get_triangle_edge_barycentric_coords(N): return np.array(barycentric_coords) -BARYCENTRIC_COORDS = get_triangle_edge_barycentric_coords(7) # Sample a NX3 Barycentric Coord vector matrix +BARYCENTRIC_COORDS = get_triangle_edge_barycentric_coords(25) # Sample a NX3 Barycentric Coord vector matrix def sample_points_on_triangle_edges(points): # Convert barycentric coordinates to Cartesian coordinates @@ -554,7 +554,6 @@ def startup(self,threaded=False): link_cube=self.collision_links[cp['link_cube']], detect_as=cp['detect_as']) if 'cube_scale' in list(cp.keys()): - print('cp_name',cp['cube_scale']) self.collision_pairs[cp_name].cube_scale = cp['cube_scale'] #Assign collision pairs to each joint @@ -611,7 +610,7 @@ def step(self,cfg=None): # Release Collision Joints in_collision mode onlt after 100 cycles if self.collision_joints[joint_name].in_collision['pos'] or self.collision_joints[joint_name].in_collision['neg']: self.collision_joints[joint_name].last_in_collision_cnt = self.collision_joints[joint_name].last_in_collision_cnt + 1 - if self.collision_joints[joint_name].last_in_collision_cnt > 100: + if self.collision_joints[joint_name].last_in_collision_cnt > 20: self.collision_joints[joint_name].in_collision['pos'] = False self.collision_joints[joint_name].in_collision['neg'] = False self.collision_joints[joint_name].last_in_collision_cnt = 0 diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 4b879225..8ed8ef33 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -431,8 +431,8 @@ 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, - 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges', 'cube_scale': 2}, - 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges', 'cube_scale': 2}, + 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, + 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges', 'cube_scale': 1.2}, 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}}, @@ -446,19 +446,21 @@ {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], 'wrist_pitch': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + # {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, + # {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}], + # {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'} + ], 'wrist_roll': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}], 'wrist_yaw': [ - # {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, - {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, - # {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, + {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, + # {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_head_tilt'}, From e0449544050c425b758cdc884087a9e015489843 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 15 Apr 2024 02:40:30 -0700 Subject: [PATCH 39/43] Tablet forced collision stop implementation --- body/stretch_body/dynamixel_hello_XL430.py | 20 ++++++++++++++++++++ body/stretch_body/end_of_arm_tools.py | 19 +++++++++++++++++-- 2 files changed, 37 insertions(+), 2 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 20ac9926..e06142cc 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -106,6 +106,8 @@ def __init__(self, name, chain=None, usb=None): self.total_range = abs(self.ticks_to_world_rad(self.params['range_t'][0]) - self.ticks_to_world_rad(self.params['range_t'][1])) self.in_collision_stop = {'pos': False, 'neg': False} self.ts_collision_stop = {'pos': 0.0, 'neg': 0.0} + self.forced_collision_stop_override = {'pos': False, 'neg':False} + self._in_collision_stop_override = False except KeyError: self.motor=None @@ -449,6 +451,16 @@ def step_collision_avoidance(self,in_collision): # print('Invalid IN_COLLISION for joint %s'%self.name) # return + if True in self.forced_collision_stop_override.values(): + if not self._in_collision_stop_override: + self.quick_stop() + self._in_collision_stop_override = True + return + + if not True in self.forced_collision_stop_override.values(): + self._in_collision_stop_override = False + + for dir in ['pos','neg']: if in_collision[dir] and not self.in_collision_stop[dir]: # Stop current motion @@ -592,6 +604,14 @@ def set_velocity(self,v_des,a_des=None): self.enable_torque() v = min(self.params['motion']['max']['vel'],abs(v_des)) + if self.forced_collision_stop_override['pos'] and v_des>0: + self.logger.warning(f"Forced Collision stop") + return + + if self.forced_collision_stop_override['neg'] and v_des<0: + self.logger.warning(f"Forced Collision stop") + return + if self.in_collision_stop['pos'] and v_des>0: self.logger.warning('set_velocity in collision . Motion disabled in direction %s for %s. Not executing set_velocity'%('pos',self.name)) return diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index c7eadba7..c38475ba 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -160,7 +160,7 @@ def __init__(self, name='eoa_wrist_dw3_tool_tablet_12in'): 'joint_wrist_pitch': 'wrist_pitch', 'joint_wrist_roll':'wrist_roll' #Not mapping fingers for collision mgmt yet } - + def move_by(self, joint, x_r, v_r=None, a_r=None, enable_wrist_roll = False): # Lock wrist roll by default if joint=='wrist_roll': @@ -232,4 +232,19 @@ def home(self): self.motors['wrist_yaw'].home() self.motors['wrist_pitch'].move_to(self.params['stow']['wrist_pitch']) self.motors['wrist_yaw'].move_to(1.57) - time.sleep(2) \ No newline at end of file + time.sleep(2) + + def step_sentry(self, robot): + super().step_sentry(robot) + if robot.collision.running: + wrist_p = self.get_joint('wrist_pitch').status['pos'] + wrist_y = self.get_joint('wrist_yaw').status['pos'] + if wrist_p > -0.23 and wrist_y < 0.18: + print("In Special Stop") + self.get_joint('wrist_yaw').forced_collision_stop_override = {'pos': False, 'neg':True} + self.get_joint('wrist_pitch').forced_collision_stop_override = {'pos': True, 'neg':False} + + else: + print("Out Special Stop") + self.get_joint('wrist_yaw').forced_collision_stop_override = {'pos': False, 'neg':False} + self.get_joint('wrist_pitch').forced_collision_stop_override = {'pos': False, 'neg':False} \ No newline at end of file From 35beb41d0069c765c4715268b313f627c6271577 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 15 Apr 2024 03:10:40 -0700 Subject: [PATCH 40/43] Cleanup --- body/stretch_body/end_of_arm_tools.py | 7 +++--- body/stretch_body/robot_collision.py | 32 ++++++++++++++++++++++++--- body/stretch_body/robot_params_SE3.py | 2 +- 3 files changed, 34 insertions(+), 7 deletions(-) diff --git a/body/stretch_body/end_of_arm_tools.py b/body/stretch_body/end_of_arm_tools.py index c38475ba..7f726d1b 100644 --- a/body/stretch_body/end_of_arm_tools.py +++ b/body/stretch_body/end_of_arm_tools.py @@ -239,12 +239,13 @@ def step_sentry(self, robot): if robot.collision.running: wrist_p = self.get_joint('wrist_pitch').status['pos'] wrist_y = self.get_joint('wrist_yaw').status['pos'] - if wrist_p > -0.23 and wrist_y < 0.18: - print("In Special Stop") + # TODO: Add more special conditions around this part + if wrist_p > -0.3 and wrist_y < 0.18: + # print("In Special Stop") self.get_joint('wrist_yaw').forced_collision_stop_override = {'pos': False, 'neg':True} self.get_joint('wrist_pitch').forced_collision_stop_override = {'pos': True, 'neg':False} else: - print("Out Special Stop") + # print("Out Special Stop") self.get_joint('wrist_yaw').forced_collision_stop_override = {'pos': False, 'neg':False} self.get_joint('wrist_pitch').forced_collision_stop_override = {'pos': False, 'neg':False} \ No newline at end of file diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index f29fbe19..0f545a47 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -338,7 +338,7 @@ def __init__(self, joint_name): self.active_collisions=[] self.collision_pairs=[] self.collision_dirs={} - self.in_collision={'pos':False,'neg':False, 'last_joint_cfg_thresh':1000} + self.in_collision={'pos':False,'neg':False} self.was_in_collision = {'pos': False, 'neg': False} self.last_in_collision_cnt = 0 @@ -418,7 +418,8 @@ def step(self): try: self.shared_is_running.value = self.running if self.running: - self.shared_joint_cfg.put(self.get_joint_configuration(braked=False)) + config = self.get_joint_configuration(braked=False) + self.shared_joint_cfg.put(config) self.collision_status.update(self.shared_collision_status.get()) for j in self.collision_status.keys(): self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j]) @@ -478,7 +479,32 @@ def get_joint_configuration(self,braked=False): 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] } - configuration.update(self.robot.end_of_arm.get_joint_configuration(braked)) + configuration.update(self.robot.end_of_arm.get_joint_configuration(True)) + return configuration + + def update_configuration_with_brakes(self,configuration): + """ + Update a dictionary of robot's current pose with braking distance applied + """ + s = self.robot.get_status() + kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance'] + da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 + dl=kbd['lift']*self.robot.lift.get_braking_distance() + dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() + dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() + + + configuration = { + 'joint_lift': dl+s['lift']['pos'], + 'joint_arm_l0': da+s['arm']['pos']/4.0, + 'joint_arm_l1': da+s['arm']['pos']/4.0, + 'joint_arm_l2': da+s['arm']['pos']/4.0, + 'joint_arm_l3': da+s['arm']['pos']/4.0, + 'joint_head_pan': dhp+s['head']['head_pan']['pos'], + 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] + } + + configuration.update(self.robot.end_of_arm.get_joint_configuration(True)) return configuration def enable(self): diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 8ed8ef33..78530627 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -427,7 +427,7 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 3.5, 'wrist_yaw':3, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 0.5, 'wrist_yaw':0.5, 'wrist_roll': 0.25}, 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, From aeabd219280c0bd09ff56de7f9af68040e29e605 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 15 Apr 2024 14:45:05 -0700 Subject: [PATCH 41/43] Remove misc files --- tools/bin/profile.html | 61912 --------------------------------------- tools/bin/profile.json | 57029 ------------------------------------ 2 files changed, 118941 deletions(-) delete mode 100644 tools/bin/profile.html delete mode 100644 tools/bin/profile.json diff --git a/tools/bin/profile.html b/tools/bin/profile.html deleted file mode 100644 index e21e0bf7..00000000 --- a/tools/bin/profile.html +++ /dev/null @@ -1,61912 +0,0 @@ - - - - - - - - Scalene - - - - - - - - - - - - - - - - - - - - - - - - - -
-

- - - -

-
-
-
- AI optimization options - - - -
- -
- - - -
- - -
- - - - - - -
- Proposed optimizations
-
- - -
-
- - -
- - - -
- - Click on an explosion (💥) to see proposed optimizations for a region of code,
- or on a lightning bolt (⚡) to propose optimizations for a specific line.
- Click again to generate a different one.
- Note that optimizations are AI-generated and may not be correct. -
- -
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-
- - - - \ No newline at end of file diff --git a/tools/bin/profile.json b/tools/bin/profile.json deleted file mode 100644 index 80bc9418..00000000 --- a/tools/bin/profile.json +++ /dev/null @@ -1,57029 +0,0 @@ -{ - "alloc_samples": 11, - "args": [ - "stretch_gamepad_teleop.py" - ], - "elapsed_time_sec": 2.1928789615631104, - "entrypoint_dir": "/home/hello-robot/repos/stretch_body/tools/bin", - "filename": "/home/hello-robot/repos/stretch_body/tools/bin", - "files": { - "/home/hello-robot/repos/stretch_body/body/stretch_body/dynamixel_XL430.py": { - "functions": [], - "imports": [ - "from __future__ import print_function", - "import struct", - "import array as arr", - "import threading", - "import signal" - ], - "leaks": {}, - "lines": [ - { - "end_outermost_loop": 1, - "end_region_line": 1, - "line": "from __future__ import print_function\n", - "lineno": 1, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1, - "start_region_line": 1 - }, - { - "end_outermost_loop": 2, - "end_region_line": 2, - "line": "import struct\n", - "lineno": 2, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 2, - "start_region_line": 2 - }, - { - "end_outermost_loop": 3, - "end_region_line": 3, - "line": "import array as arr\n", - "lineno": 3, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 3, - "start_region_line": 3 - }, - { - "end_outermost_loop": 4, - "end_region_line": 4, - "line": "import logging\n", - "lineno": 4, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 4, - "start_region_line": 4 - }, - { - "end_outermost_loop": 5, - "end_region_line": 5, - "line": "\n", - "lineno": 5, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 5, - "start_region_line": 5 - }, - { - "end_outermost_loop": 6, - "end_region_line": 6, - "line": "from dynamixel_sdk.robotis_def import *\n", - "lineno": 6, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 6, - "start_region_line": 6 - }, - { - "end_outermost_loop": 7, - "end_region_line": 7, - "line": "import dynamixel_sdk.port_handler as prh\n", - "lineno": 7, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 7, - "start_region_line": 7 - }, - { - "end_outermost_loop": 8, - "end_region_line": 8, - "line": "import dynamixel_sdk.packet_handler as pch\n", - "lineno": 8, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 8, - "start_region_line": 8 - }, - { - "end_outermost_loop": 9, - "end_region_line": 9, - "line": "import threading\n", - "lineno": 9, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 9, - "start_region_line": 9 - }, - { - "end_outermost_loop": 10, - "end_region_line": 10, - "line": "import serial\n", - "lineno": 10, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 10, - "start_region_line": 10 - }, - { - "end_outermost_loop": 11, - "end_region_line": 11, - "line": "import signal\n", - "lineno": 11, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 11, - "start_region_line": 11 - }, - { - "end_outermost_loop": 12, - "end_region_line": 12, - "line": "\n", - "lineno": 12, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 12, - "start_region_line": 12 - }, - { - "end_outermost_loop": 13, - "end_region_line": 13, - "line": "# The code can be found in the following directory:\n", - "lineno": 13, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 13, - "start_region_line": 13 - }, - { - "end_outermost_loop": 14, - "end_region_line": 14, - "line": "# /opt/ros/melodic/lib/python2.7/dist-packages/dynamixel_sdk/\n", - "lineno": 14, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 14, - "start_region_line": 14 - }, - { - "end_outermost_loop": 15, - "end_region_line": 15, - "line": "import dynamixel_sdk.group_bulk_read as gbr\n", - "lineno": 15, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 15, - "start_region_line": 15 - }, - { - "end_outermost_loop": 16, - "end_region_line": 16, - "line": "import dynamixel_sdk.group_sync_read as gsr\n", - "lineno": 16, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 16, - "start_region_line": 16 - }, - { - "end_outermost_loop": 17, - "end_region_line": 17, - "line": "\n", - "lineno": 17, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 17, - "start_region_line": 17 - }, - { - "end_outermost_loop": 18, - "end_region_line": 18, - "line": "\n", - "lineno": 18, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 18, - "start_region_line": 18 - }, - { - "end_outermost_loop": 19, - "end_region_line": 19, - "line": "# #########################\n", - "lineno": 19, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 19, - "start_region_line": 19 - }, - { - "end_outermost_loop": 20, - "end_region_line": 20, - "line": "# XL430-W250\n", - "lineno": 20, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 20, - "start_region_line": 20 - }, - { - "end_outermost_loop": 21, - "end_region_line": 21, - "line": "# http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#control-table\n", - "lineno": 21, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 21, - "start_region_line": 21 - }, - { - "end_outermost_loop": 22, - "end_region_line": 22, - "line": "# XM540-W270\n", - "lineno": 22, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 22, - "start_region_line": 22 - }, - { - "end_outermost_loop": 23, - "end_region_line": 23, - "line": "# https://emanual.robotis.com/docs/en/dxl/x/xm540-w270/#control-table\n", - "lineno": 23, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 23, - "start_region_line": 23 - }, - { - "end_outermost_loop": 24, - "end_region_line": 24, - "line": "# xm430-w350\n", - "lineno": 24, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 24, - "start_region_line": 24 - }, - { - "end_outermost_loop": 25, - "end_region_line": 25, - "line": "#https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/\n", - "lineno": 25, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 25, - "start_region_line": 25 - }, - { - "end_outermost_loop": 26, - "end_region_line": 26, - "line": "# xc430-w240\n", - "lineno": 26, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 26, - "start_region_line": 26 - }, - { - "end_outermost_loop": 27, - "end_region_line": 27, - "line": "#https://emanual.robotis.com/docs/en/dxl/x/xc430-w240/\n", - "lineno": 27, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 27, - "start_region_line": 27 - }, - { - "end_outermost_loop": 28, - "end_region_line": 28, - "line": "\n", - "lineno": 28, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 28, - "start_region_line": 28 - }, - { - "end_outermost_loop": 29, - "end_region_line": 29, - "line": "# Control table address\n", - "lineno": 29, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 29, - "start_region_line": 29 - }, - { - "end_outermost_loop": 30, - "end_region_line": 30, - "line": "#EEPROM\n", - "lineno": 30, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 30, - "start_region_line": 30 - }, - { - "end_outermost_loop": 31, - "end_region_line": 31, - "line": "XL430_ADDR_MODEL_NUMBER = 0\n", - "lineno": 31, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 31, - "start_region_line": 31 - }, - { - "end_outermost_loop": 32, - "end_region_line": 32, - "line": "XL430_ADDR_MODEL_INFORMATION = 2\n", - "lineno": 32, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 32, - "start_region_line": 32 - }, - { - "end_outermost_loop": 33, - "end_region_line": 33, - "line": "XL430_ADDR_FIRMWARE_VERSION = 6\n", - "lineno": 33, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 33, - "start_region_line": 33 - }, - { - "end_outermost_loop": 34, - "end_region_line": 34, - "line": "XL430_ADDR_ID = 7\n", - "lineno": 34, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 34, - "start_region_line": 34 - }, - { - "end_outermost_loop": 35, - "end_region_line": 35, - "line": "XL430_ADDR_BAUD_RATE = 8\n", - "lineno": 35, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 35, - "start_region_line": 35 - }, - { - "end_outermost_loop": 36, - "end_region_line": 36, - "line": "XL430_ADDR_RETURN_DELAY_TIME = 9\n", - "lineno": 36, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 36, - "start_region_line": 36 - }, - { - "end_outermost_loop": 37, - "end_region_line": 37, - "line": "XL430_ADDR_DRIVE_MODE = 10\n", - "lineno": 37, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 37, - "start_region_line": 37 - }, - { - "end_outermost_loop": 38, - "end_region_line": 38, - "line": "XL430_ADDR_OPERATING_MODE = 11\n", - "lineno": 38, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 38, - "start_region_line": 38 - }, - { - "end_outermost_loop": 39, - "end_region_line": 39, - "line": "XL430_ADDR_SECONDARY_ID = 12\n", - "lineno": 39, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 39, - "start_region_line": 39 - }, - { - "end_outermost_loop": 40, - "end_region_line": 40, - "line": "XL430_ADDR_PROTOCOL_VERSION =13\n", - "lineno": 40, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 40, - "start_region_line": 40 - }, - { - "end_outermost_loop": 41, - "end_region_line": 41, - "line": "XL430_ADDR_HOMING_OFFSET = 20\n", - "lineno": 41, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 41, - "start_region_line": 41 - }, - { - "end_outermost_loop": 42, - "end_region_line": 42, - "line": "XL430_ADDR_MOVING_THRESHOLD =24\n", - "lineno": 42, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 42, - "start_region_line": 42 - }, - { - "end_outermost_loop": 43, - "end_region_line": 43, - "line": "XL430_ADDR_TEMPERATURE_LIMIT = 31\n", - "lineno": 43, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 43, - "start_region_line": 43 - }, - { - "end_outermost_loop": 44, - "end_region_line": 44, - "line": "XL430_ADDR_MAX_VOLTAGE_LIMIT = 32\n", - "lineno": 44, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 45, - "end_region_line": 45, - "line": "XL430_ADDR_MIN_VOLTAGE_LIMIT = 34\n", - "lineno": 45, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 45, - "start_region_line": 45 - }, - { - "end_outermost_loop": 46, - "end_region_line": 46, - "line": "XL430_ADDR_PWM_LIMIT = 36\n", - "lineno": 46, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 46, - "start_region_line": 46 - }, - { - "end_outermost_loop": 47, - "end_region_line": 47, - "line": "XL430_ADDR_VELOCITY_LIMIT = 44\n", - "lineno": 47, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 47, - "start_region_line": 47 - }, - { - "end_outermost_loop": 48, - "end_region_line": 48, - "line": "XL430_ADDR_MAX_POS_LIMIT = 48\n", - "lineno": 48, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 48, - "start_region_line": 48 - }, - { - "end_outermost_loop": 49, - "end_region_line": 49, - "line": "XL430_ADDR_MIN_POS_LIMIT = 52\n", - "lineno": 49, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 49, - "start_region_line": 49 - }, - { - "end_outermost_loop": 50, - "end_region_line": 50, - "line": "XL430_ADDR_SHUTDOWN = 63\n", - "lineno": 50, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 50, - "start_region_line": 50 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": "\n", - "lineno": 51, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 51, - "start_region_line": 51 - }, - { - "end_outermost_loop": 52, - "end_region_line": 52, - "line": "#RAM\n", - "lineno": 52, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 52, - "start_region_line": 52 - }, - { - "end_outermost_loop": 53, - "end_region_line": 53, - "line": "XL430_ADDR_TORQUE_ENABLE = 64\n", - "lineno": 53, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 53, - "start_region_line": 53 - }, - { - "end_outermost_loop": 54, - "end_region_line": 54, - "line": "XL430_ADDR_LED = 65\n", - "lineno": 54, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 54, - "start_region_line": 54 - }, - { - "end_outermost_loop": 55, - "end_region_line": 55, - "line": "XL430_ADDR_STATUS_RETURN_LEVEL = 68\n", - "lineno": 55, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 55, - "start_region_line": 55 - }, - { - "end_outermost_loop": 56, - "end_region_line": 56, - "line": "XL430_ADDR_REGISTERED_INSTRUCTION = 69\n", - "lineno": 56, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 56, - "start_region_line": 56 - }, - { - "end_outermost_loop": 57, - "end_region_line": 57, - "line": "XL430_ADDR_HARDWARE_ERROR_STATUS = 70\n", - "lineno": 57, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 57, - "start_region_line": 57 - }, - { - "end_outermost_loop": 58, - "end_region_line": 58, - "line": "XL430_ADDR_VELOCITY_I_GAIN = 76\n", - "lineno": 58, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - 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"n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 60, - "start_region_line": 60 - }, - { - "end_outermost_loop": 61, - "end_region_line": 61, - "line": "XL430_ADDR_POS_I_GAIN = 82\n", - "lineno": 61, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 61, - "start_region_line": 61 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": "XL430_ADDR_POS_P_GAIN = 84\n", - "lineno": 62, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 62, - "start_region_line": 62 - }, - { - "end_outermost_loop": 63, - "end_region_line": 63, - "line": "XL430_ADDR_FF_2ND_GAIN = 88\n", - "lineno": 63, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 63, - "start_region_line": 63 - }, - { - "end_outermost_loop": 64, - "end_region_line": 64, - "line": "XL430_ADDR_FF_1ST_GAIN =90\n", - "lineno": 64, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 64, - "start_region_line": 64 - }, - { - "end_outermost_loop": 65, - "end_region_line": 65, - "line": "XL430_ADDR_BUS_WATCHDOG = 98\n", - "lineno": 65, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 65, - "start_region_line": 65 - }, - { - "end_outermost_loop": 66, - "end_region_line": 66, - "line": "XL430_ADDR_GOAL_PWM = 100\n", - "lineno": 66, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 66, - "start_region_line": 66 - }, - { - "end_outermost_loop": 67, - "end_region_line": 67, - "line": "XL430_ADDR_GOAL_VEL = 104\n", - "lineno": 67, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 67, - "start_region_line": 67 - }, - { - "end_outermost_loop": 68, - "end_region_line": 68, - "line": "XL430_ADDR_PROFILE_ACCELERATION = 108\n", - "lineno": 68, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 68, - "start_region_line": 68 - }, - { - "end_outermost_loop": 69, - "end_region_line": 69, - "line": "XL430_ADDR_PROFILE_VELOCITY = 112\n", - "lineno": 69, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 69, - "start_region_line": 69 - }, - { - "end_outermost_loop": 70, - "end_region_line": 70, - "line": "XL430_ADDR_GOAL_POSITION = 116\n", - "lineno": 70, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 70, - "start_region_line": 70 - }, - { - "end_outermost_loop": 71, - "end_region_line": 71, - "line": "XL430_ADDR_REALTIME_TICK = 120\n", - "lineno": 71, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 71, - "start_region_line": 71 - }, - { - "end_outermost_loop": 72, - "end_region_line": 72, - "line": "XL430_ADDR_MOVING = 122\n", - "lineno": 72, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 72, - "start_region_line": 72 - }, - { - "end_outermost_loop": 73, - "end_region_line": 73, - "line": "XL430_ADDR_MOVING_STATUS=123\n", - "lineno": 73, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 73, - "start_region_line": 73 - }, - { - "end_outermost_loop": 74, - "end_region_line": 74, - "line": "XL430_ADDR_PRESENT_PWM = 124\n", - "lineno": 74, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 74, - "start_region_line": 74 - }, - { - "end_outermost_loop": 75, - "end_region_line": 75, - "line": "XL430_ADDR_PRESENT_LOAD = 126\n", - "lineno": 75, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 75, - "start_region_line": 75 - }, - { - "end_outermost_loop": 76, - "end_region_line": 76, - "line": "XL430_ADDR_PRESENT_VELOCITY =128\n", - "lineno": 76, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 76, - "start_region_line": 76 - }, - { - "end_outermost_loop": 77, - "end_region_line": 77, - "line": "XL430_ADDR_PRESENT_POSITION = 132\n", - "lineno": 77, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 77, - "start_region_line": 77 - }, - { - "end_outermost_loop": 78, - "end_region_line": 78, - "line": "XL430_ADDR_VELOCITY_TRAJECTORY = 136\n", - "lineno": 78, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 78, - "start_region_line": 78 - }, - { - "end_outermost_loop": 79, - "end_region_line": 79, - "line": "XL430_ADDR_POSITION_TRAJECTORY=140\n", - "lineno": 79, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - 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"start_region_line": 93 - }, - { - "end_outermost_loop": 94, - "end_region_line": 94, - "line": " COMM_RX_WAITING: \"COMM_RX_WAITING\",\n", - "lineno": 94, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 94, - "start_region_line": 94 - }, - { - "end_outermost_loop": 95, - "end_region_line": 95, - "line": " COMM_RX_TIMEOUT: \"COMM_RX_TIMEOUT\",\n", - "lineno": 95, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - 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"lineno": 110, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 110, - "start_region_line": 110 - }, - { - "end_outermost_loop": 111, - "end_region_line": 111, - "line": "MODEL_NUMBERS = {1080: 'XC430-W240', 1120:'XM540-W270',1060:'XL430-W250',1020:'XM430-W350'}\n", - "lineno": 111, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 111, - "start_region_line": 111 - }, - { - "end_outermost_loop": 112, - "end_region_line": 112, - "line": "\n", - "lineno": 112, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 112, - "start_region_line": 112 - }, - { - "end_outermost_loop": 131, - "end_region_line": 131, - "line": "class DelayedKeyboardInterrupt:\n", - "lineno": 113, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 113, - "start_region_line": 113 - }, - { - "end_outermost_loop": 114, - "end_region_line": 131, - "line": "\n", - "lineno": 114, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 114, - "start_region_line": 113 - }, - { - "end_outermost_loop": 120, - "end_region_line": 120, - "line": " def __enter__(self):\n", - "lineno": 115, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 115, - "start_region_line": 115 - }, - { - "end_outermost_loop": 116, - "end_region_line": 120, - "line": " self.signal_received = False\n", - "lineno": 116, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 116, - "start_region_line": 115 - }, - { - "end_outermost_loop": 117, - "end_region_line": 120, - "line": " try:\n", - "lineno": 117, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 115 - }, - { - "end_outermost_loop": 118, - "end_region_line": 120, - "line": " self.old_handler = signal.signal(signal.SIGINT, self.handler)\n", - "lineno": 118, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 118, - "start_region_line": 115 - }, - { - "end_outermost_loop": 119, - "end_region_line": 120, - "line": " except ValueError:\n", - "lineno": 119, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 119, - "start_region_line": 115 - }, - { - "end_outermost_loop": 120, - "end_region_line": 120, - "line": " pass\n", - "lineno": 120, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 120, - "start_region_line": 115 - }, - { - "end_outermost_loop": 121, - "end_region_line": 131, - "line": "\n", - "lineno": 121, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 121, - "start_region_line": 113 - }, - { - "end_outermost_loop": 123, - "end_region_line": 123, - "line": " def handler(self, sig, frame):\n", - "lineno": 122, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 122, - "start_region_line": 122 - }, - { - "end_outermost_loop": 123, - "end_region_line": 123, - "line": " self.signal_received = (sig, frame)\n", - "lineno": 123, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 123, - "start_region_line": 122 - }, - { - "end_outermost_loop": 124, - "end_region_line": 131, - "line": "\n", - "lineno": 124, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 124, - "start_region_line": 113 - }, - { - "end_outermost_loop": 131, - "end_region_line": 131, - "line": " def __exit__(self, type, value, traceback):\n", - "lineno": 125, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 125, - "start_region_line": 125 - }, - { - "end_outermost_loop": 126, - "end_region_line": 131, - "line": " try:\n", - "lineno": 126, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 126, - "start_region_line": 125 - }, - { - "end_outermost_loop": 127, - "end_region_line": 131, - "line": " signal.signal(signal.SIGINT, self.old_handler)\n", - "lineno": 127, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 127, - "start_region_line": 125 - }, - { - "end_outermost_loop": 129, - "end_region_line": 131, - "line": " if self.signal_received:\n", - "lineno": 128, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 128, - "start_region_line": 125 - }, - { - "end_outermost_loop": 129, - "end_region_line": 131, - "line": " self.old_handler(*self.signal_received)\n", - "lineno": 129, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 129, - "start_region_line": 125 - }, - { - "end_outermost_loop": 130, - "end_region_line": 131, - "line": " except (ValueError,AttributeError):\n", - "lineno": 130, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 130, - "start_region_line": 125 - }, - { - "end_outermost_loop": 131, - "end_region_line": 131, - "line": " pass\n", - "lineno": 131, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 131, - "start_region_line": 125 - }, - { - "end_outermost_loop": 132, - "end_region_line": 132, - "line": "\n", - "lineno": 132, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 132, - "start_region_line": 132 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": "class DynamixelCommError(Exception):\n", - "lineno": 133, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 133, - "start_region_line": 133 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " pass\n", - "lineno": 134, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 134, - "start_region_line": 133 - }, - { - "end_outermost_loop": 135, - "end_region_line": 135, - "line": "\n", - "lineno": 135, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 136, - "end_region_line": 136, - "line": "\n", - "lineno": 136, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 136, - "start_region_line": 136 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": "class DynamixelXL430():\n", - "lineno": 137, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 138, - "end_region_line": 1035, - "line": " \"\"\"\n", - "lineno": 138, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 138, - "start_region_line": 137 - }, - { - "end_outermost_loop": 139, - "end_region_line": 1035, - "line": " Wrapping of Dynamixel X-Series interface\n", - "lineno": 139, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 139, - "start_region_line": 137 - }, - { - "end_outermost_loop": 140, - "end_region_line": 1035, - "line": " \"\"\"\n", - "lineno": 140, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 140, - "start_region_line": 137 - }, - { - "end_outermost_loop": 155, - "end_region_line": 155, - "line": " def __init__(self, dxl_id, usb, port_handler=None, pt_lock=None, baud=115200, logger=logging.getLogger()):\n", - "lineno": 141, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 141, - "start_region_line": 141 - }, - { - "end_outermost_loop": 142, - "end_region_line": 155, - "line": " self.dxl_id = dxl_id\n", - "lineno": 142, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 142, - "start_region_line": 141 - }, - { - "end_outermost_loop": 143, - "end_region_line": 155, - "line": " self.usb = usb\n", - "lineno": 143, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 143, - "start_region_line": 141 - }, - { - "end_outermost_loop": 144, - "end_region_line": 155, - "line": " self.comm_errors = 0\n", - "lineno": 144, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 144, - "start_region_line": 141 - }, - { - "end_outermost_loop": 145, - "end_region_line": 155, - "line": " self.last_comm_success = True\n", - "lineno": 145, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 145, - "start_region_line": 141 - }, - { - "end_outermost_loop": 146, - "end_region_line": 155, - "line": " self.logger = logger\n", - "lineno": 146, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 146, - "start_region_line": 141 - }, - { - "end_outermost_loop": 147, - "end_region_line": 155, - "line": " self.baud=baud\n", - "lineno": 147, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 147, - "start_region_line": 141 - }, - { - "end_outermost_loop": 148, - "end_region_line": 155, - "line": " self.dxl_model_name=''\n", - "lineno": 148, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 148, - "start_region_line": 141 - }, - { - "end_outermost_loop": 155, - "end_region_line": 155, - "line": " # Make access to portHandler threadsafe\n", - "lineno": 149, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 141, - "start_region_line": 141 - }, - { - "end_outermost_loop": 150, - "end_region_line": 155, - "line": " self.pt_lock = threading.RLock() if pt_lock is None else pt_lock\n", - "lineno": 150, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 150, - "start_region_line": 141 - }, - { - "end_outermost_loop": 151, - "end_region_line": 155, - "line": " self.hw_valid = False\n", - "lineno": 151, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 151, - "start_region_line": 141 - }, - { - "end_outermost_loop": 152, - "end_region_line": 155, - "line": "\n", - "lineno": 152, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 152, - "start_region_line": 141 - }, - { - "end_outermost_loop": 155, - "end_region_line": 155, - "line": " # Allow sharing of port handler across multiple servos\n", - "lineno": 153, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 141, - "start_region_line": 141 - }, - { - "end_outermost_loop": 154, - "end_region_line": 155, - "line": " self.port_handler = port_handler\n", - "lineno": 154, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 154, - "start_region_line": 141 - }, - { - "end_outermost_loop": 155, - "end_region_line": 155, - "line": " self.packet_handler= None\n", - "lineno": 155, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 155, - "start_region_line": 141 - }, - { - "end_outermost_loop": 156, - "end_region_line": 1035, - "line": " \n", - "lineno": 156, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 156, - "start_region_line": 137 - }, - { - "end_outermost_loop": 168, - "end_region_line": 168, - "line": " def create_port_handler(self):\n", - "lineno": 157, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 157, - "start_region_line": 157 - }, - { - "end_outermost_loop": 158, - "end_region_line": 168, - "line": " try:\n", - "lineno": 158, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 158, - "start_region_line": 157 - }, - { - "end_outermost_loop": 164, - "end_region_line": 168, - "line": " if self.port_handler is None or not self.port_handler.is_open:\n", - "lineno": 159, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 159, - "start_region_line": 157 - }, - { - "end_outermost_loop": 160, - "end_region_line": 168, - "line": " self.port_handler = prh.PortHandler(self.usb)\n", - "lineno": 160, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 160, - "start_region_line": 157 - }, - { - "end_outermost_loop": 161, - "end_region_line": 168, - "line": " self.port_handler.openPort()\n", - "lineno": 161, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 161, - "start_region_line": 157 - }, - { - "end_outermost_loop": 162, - "end_region_line": 168, - "line": " self.port_handler.setBaudRate(self.baud)\n", - "lineno": 162, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 157 - }, - { - "end_outermost_loop": 164, - "end_region_line": 168, - "line": " else:\n", - "lineno": 163, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 159, - "start_region_line": 157 - }, - { - "end_outermost_loop": 164, - "end_region_line": 168, - "line": " self.port_handler = self.port_handler\n", - "lineno": 164, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 164, - "start_region_line": 157 - }, - { - "end_outermost_loop": 165, - "end_region_line": 168, - "line": " self.packet_handler = pch.PacketHandler(2.0)\n", - "lineno": 165, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 165, - "start_region_line": 157 - }, - { - "end_outermost_loop": 166, - "end_region_line": 168, - "line": " except serial.SerialException as e:\n", - "lineno": 166, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 166, - "start_region_line": 157 - }, - { - "end_outermost_loop": 167, - "end_region_line": 168, - "line": " self.logger.error(\"Dynamixel SerialException({1}): {2}\".format(self.usb,e.errno, e.strerror))\n", - "lineno": 167, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 167, - "start_region_line": 157 - }, - { - "end_outermost_loop": 168, - "end_region_line": 168, - "line": " self.hw_valid = self.packet_handler is not None\n", - "lineno": 168, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 168, - "start_region_line": 157 - }, - { - "end_outermost_loop": 169, - "end_region_line": 1035, - "line": "\n", - "lineno": 169, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 169, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " @staticmethod\n", - "lineno": 170, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 198, - "end_region_line": 198, - "line": " def identify_baud_rate(dxl_id, usb):\n", - "lineno": 171, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 171, - "start_region_line": 171 - }, - { - "end_outermost_loop": 172, - "end_region_line": 198, - "line": " \"\"\"Identify the baud rate a Dynamixel servo is communicating at.\n", - "lineno": 172, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 172, - "start_region_line": 171 - }, - { - "end_outermost_loop": 173, - "end_region_line": 198, - "line": "\n", - "lineno": 173, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 173, - "start_region_line": 171 - }, - { - "end_outermost_loop": 174, - "end_region_line": 198, - "line": " Parameters\n", - "lineno": 174, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 174, - "start_region_line": 171 - }, - { - "end_outermost_loop": 175, - "end_region_line": 198, - "line": " ----------\n", - "lineno": 175, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 175, - "start_region_line": 171 - }, - { - "end_outermost_loop": 176, - "end_region_line": 198, - "line": " dxl_id : int\n", - "lineno": 176, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 176, - "start_region_line": 171 - }, - { - "end_outermost_loop": 177, - "end_region_line": 198, - "line": " Dynamixel ID on chain. Must be [0, 25]\n", - "lineno": 177, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 177, - "start_region_line": 171 - }, - { - "end_outermost_loop": 178, - "end_region_line": 198, - "line": " usb : str\n", - "lineno": 178, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 178, - "start_region_line": 171 - }, - { - "end_outermost_loop": 179, - "end_region_line": 198, - "line": " the USB port, typically \"/dev/something\"\n", - "lineno": 179, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 179, - "start_region_line": 171 - }, - { - "end_outermost_loop": 180, - "end_region_line": 198, - "line": "\n", - "lineno": 180, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 180, - "start_region_line": 171 - }, - { - "end_outermost_loop": 181, - "end_region_line": 198, - "line": " Returns\n", - "lineno": 181, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 171 - }, - { - "end_outermost_loop": 182, - "end_region_line": 198, - "line": " -------\n", - "lineno": 182, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 182, - "start_region_line": 171 - }, - { - "end_outermost_loop": 183, - "end_region_line": 198, - "line": " int\n", - "lineno": 183, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 183, - "start_region_line": 171 - }, - { - "end_outermost_loop": 184, - "end_region_line": 198, - "line": " the baud rate the Dynamixel is communicating at\n", - "lineno": 184, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 184, - "start_region_line": 171 - }, - { - "end_outermost_loop": 185, - "end_region_line": 198, - "line": " \"\"\"\n", - "lineno": 185, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 185, - "start_region_line": 171 - }, - { - "end_outermost_loop": 186, - "end_region_line": 198, - "line": " try:\n", - "lineno": 186, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 186, - "start_region_line": 171 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " for b in BAUD_MAP.keys():\n", - "lineno": 187, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " port_h = prh.PortHandler(usb)\n", - "lineno": 188, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " port_h.openPort()\n", - "lineno": 189, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " port_h.setBaudRate(b)\n", - "lineno": 190, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " packet_h = pch.PacketHandler(2.0)\n", - "lineno": 191, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " _, dxl_comm_result, _ = packet_h.ping(port_h, dxl_id)\n", - "lineno": 192, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " port_h.closePort()\n", - "lineno": 193, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " if dxl_comm_result == COMM_SUCCESS:\n", - "lineno": 194, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " return b\n", - "lineno": 195, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 187 - }, - { - "end_outermost_loop": 196, - "end_region_line": 198, - "line": " except:\n", - "lineno": 196, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 196, - "start_region_line": 171 - }, - { - "end_outermost_loop": 197, - "end_region_line": 198, - "line": " pass\n", - "lineno": 197, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 197, - "start_region_line": 171 - }, - { - "end_outermost_loop": 198, - "end_region_line": 198, - "line": " return -1\n", - "lineno": 198, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 198, - "start_region_line": 171 - }, - { - "end_outermost_loop": 199, - "end_region_line": 1035, - "line": "\n", - "lineno": 199, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 199, - "start_region_line": 137 - }, - { - "end_outermost_loop": 214, - "end_region_line": 214, - "line": " def startup(self):\n", - "lineno": 200, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 200, - "start_region_line": 200 - }, - { - "end_outermost_loop": 201, - "end_region_line": 214, - "line": " self.create_port_handler()\n", - "lineno": 201, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 201, - "start_region_line": 200 - }, - { - "end_outermost_loop": 213, - "end_region_line": 214, - "line": " if self.hw_valid:\n", - "lineno": 202, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 202, - "start_region_line": 200 - }, - { - "end_outermost_loop": 203, - "end_region_line": 214, - "line": " try:\n", - "lineno": 203, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 203, - "start_region_line": 200 - }, - { - "end_outermost_loop": 204, - "end_region_line": 214, - "line": " self.enable_torque()\n", - "lineno": 204, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 204, - "start_region_line": 200 - }, - { - "end_outermost_loop": 205, - "end_region_line": 214, - "line": " except DynamixelCommError:\n", - "lineno": 205, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 205, - "start_region_line": 200 - }, - { - "end_outermost_loop": 206, - "end_region_line": 214, - "line": " baud=self.identify_baud_rate(self.dxl_id,self.usb)\n", - "lineno": 206, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 206, - "start_region_line": 200 - }, - { - "end_outermost_loop": 210, - "end_region_line": 214, - "line": " if baud!=self.baud:\n", - "lineno": 207, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 207, - "start_region_line": 200 - }, - { - "end_outermost_loop": 208, - "end_region_line": 214, - "line": " self.logger.error('DynamixelCommError. Mismatched baud rate. Expected %d but servo is set to %d.'%(self.baud,baud))\n", - "lineno": 208, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 208, - "start_region_line": 200 - }, - { - "end_outermost_loop": 210, - "end_region_line": 214, - "line": " else:\n", - "lineno": 209, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 207, - "start_region_line": 200 - }, - { - "end_outermost_loop": 210, - "end_region_line": 214, - "line": " self.logger.error('DynamixelCommError. Failed to startup servo %s at id %d . Check that id and usb bus are valid'%(self.usb,self.dxl_id))\n", - "lineno": 210, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 210, - "start_region_line": 200 - }, - { - "end_outermost_loop": 211, - "end_region_line": 214, - "line": " self.hw_valid=False\n", - "lineno": 211, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 211, - "start_region_line": 200 - }, - { - "end_outermost_loop": 212, - "end_region_line": 214, - "line": " return False\n", - "lineno": 212, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 212, - "start_region_line": 200 - }, - { - "end_outermost_loop": 213, - "end_region_line": 214, - "line": " return True\n", - "lineno": 213, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 213, - "start_region_line": 200 - }, - { - "end_outermost_loop": 214, - "end_region_line": 214, - "line": " return False\n", - "lineno": 214, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 214, - "start_region_line": 200 - }, - { - "end_outermost_loop": 215, - "end_region_line": 1035, - "line": "\n", - "lineno": 215, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 215, - "start_region_line": 137 - }, - { - "end_outermost_loop": 216, - "end_region_line": 1035, - "line": "\n", - "lineno": 216, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 216, - "start_region_line": 137 - }, - { - "end_outermost_loop": 223, - "end_region_line": 223, - "line": " def stop(self, close_port=True, disable_torque=False):\n", - "lineno": 217, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 217, - "start_region_line": 217 - }, - { - "end_outermost_loop": 223, - "end_region_line": 223, - "line": " if self.hw_valid:\n", - "lineno": 218, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 218, - "start_region_line": 217 - }, - { - "end_outermost_loop": 219, - "end_region_line": 223, - "line": " self.hw_valid = False\n", - "lineno": 219, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 219, - "start_region_line": 217 - }, - { - "end_outermost_loop": 221, - "end_region_line": 223, - "line": " if disable_torque:\n", - "lineno": 220, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 220, - "start_region_line": 217 - }, - { - "end_outermost_loop": 221, - "end_region_line": 223, - "line": " self.disable_torque()\n", - "lineno": 221, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 221, - "start_region_line": 217 - }, - { - "end_outermost_loop": 223, - "end_region_line": 223, - "line": " if close_port:\n", - "lineno": 222, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 222, - "start_region_line": 217 - }, - { - "end_outermost_loop": 223, - "end_region_line": 223, - "line": " self.port_handler.closePort()\n", - "lineno": 223, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 223, - "start_region_line": 217 - }, - { - "end_outermost_loop": 224, - "end_region_line": 1035, - "line": "\n", - "lineno": 224, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 224, - "start_region_line": 137 - }, - { - "end_outermost_loop": 250, - "end_region_line": 250, - "line": " def pretty_print(self):\n", - "lineno": 225, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 225, - "start_region_line": 225 - }, - { - "end_outermost_loop": 226, - "end_region_line": 250, - "line": " h = self.get_hardware_error()\n", - "lineno": 226, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 225 - }, - { - "end_outermost_loop": 227, - "end_region_line": 250, - "line": " status = {\n", - "lineno": 227, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 227, - "start_region_line": 225 - }, - { - "end_outermost_loop": 228, - "end_region_line": 250, - "line": " 'ID:': self.get_id(),\n", - "lineno": 228, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 228, - "start_region_line": 225 - }, - { - "end_outermost_loop": 229, - "end_region_line": 250, - "line": " 'Operating Mode:': self.get_operating_mode(),\n", - "lineno": 229, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 229, - "start_region_line": 225 - }, - { - "end_outermost_loop": 230, - "end_region_line": 250, - "line": " 'Drive Mode:': format(self.get_drive_mode(), '#010b'),\n", - "lineno": 230, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 230, - "start_region_line": 225 - }, - { - "end_outermost_loop": 231, - "end_region_line": 250, - "line": " 'Temperature:': f'{self.get_temp()} \u00b0C',\n", - "lineno": 231, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 231, - "start_region_line": 225 - }, - { - "end_outermost_loop": 232, - "end_region_line": 250, - "line": " 'Position:': f'{self.get_pos()} ticks',\n", - "lineno": 232, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 232, - "start_region_line": 225 - }, - { - "end_outermost_loop": 233, - "end_region_line": 250, - "line": " 'Velocity:': f'{self.get_vel() * 0.229:.3f} rev/min',\n", - "lineno": 233, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 225 - }, - { - "end_outermost_loop": 234, - "end_region_line": 250, - "line": " 'Load:': f'{self.get_load() * 0.1:.3f} %',\n", - "lineno": 234, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 234, - "start_region_line": 225 - }, - { - "end_outermost_loop": 235, - "end_region_line": 250, - "line": " 'PWM:': f'{self.get_pwm() * 0.113:.3f} %',\n", - "lineno": 235, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 235, - "start_region_line": 225 - }, - { - "end_outermost_loop": 236, - "end_region_line": 250, - "line": " 'Is Moving:': str(self.is_moving() != 0),\n", - "lineno": 236, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 236, - "start_region_line": 225 - }, - { - "end_outermost_loop": 237, - "end_region_line": 250, - "line": " 'Is Calibrated:': str(self.is_calibrated() != 0),\n", - "lineno": 237, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 237, - "start_region_line": 225 - }, - { - "end_outermost_loop": 238, - "end_region_line": 250, - "line": " 'Profile Velocity:': f'{self.get_profile_velocity() * 0.299:.3f} rev/min',\n", - "lineno": 238, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 238, - "start_region_line": 225 - }, - { - "end_outermost_loop": 239, - "end_region_line": 250, - "line": " 'Profile Acceleration:': f'{self.get_profile_acceleration() * 214.577:.3f} rev/min^2',\n", - "lineno": 239, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 239, - "start_region_line": 225 - }, - { - "end_outermost_loop": 240, - "end_region_line": 250, - "line": " 'Hardware Error Status:': format(h, '#010b'),\n", - "lineno": 240, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 240, - "start_region_line": 225 - }, - { - "end_outermost_loop": 241, - "end_region_line": 250, - "line": " ' Input Voltage Error:': str(h \\u0026 1 != 0),\n", - "lineno": 241, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 241, - "start_region_line": 225 - }, - { - "end_outermost_loop": 242, - "end_region_line": 250, - "line": " ' Overheating Error: ': str(h \\u0026 4 != 0),\n", - "lineno": 242, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 242, - "start_region_line": 225 - }, - { - "end_outermost_loop": 243, - "end_region_line": 250, - "line": " ' Motor Encoder Error:': str(h \\u0026 8 != 0),\n", - "lineno": 243, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 243, - "start_region_line": 225 - }, - { - "end_outermost_loop": 244, - "end_region_line": 250, - "line": " ' Electrical Shock Error:': str(h \\u0026 16 != 0),\n", - "lineno": 244, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 244, - "start_region_line": 225 - }, - { - "end_outermost_loop": 245, - "end_region_line": 250, - "line": " ' Overload Error:': str(h \\u0026 32 != 0),\n", - "lineno": 245, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 245, - "start_region_line": 225 - }, - { - "end_outermost_loop": 246, - "end_region_line": 250, - "line": " '# Communication Errors:': self.comm_errors,\n", - "lineno": 246, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 246, - "start_region_line": 225 - }, - { - "end_outermost_loop": 247, - "end_region_line": 250, - "line": " }\n", - "lineno": 247, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 247, - "start_region_line": 225 - }, - { - "end_outermost_loop": 248, - "end_region_line": 250, - "line": " print('------------------- XL430 -------------------')\n", - "lineno": 248, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 248, - "start_region_line": 225 - }, - { - "end_outermost_loop": 250, - "end_region_line": 250, - "line": " for elem, value in status.items():\n", - "lineno": 249, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 249, - "start_region_line": 249 - }, - { - "end_outermost_loop": 250, - "end_region_line": 250, - "line": " print(f\"{elem: \\u003c25}{value: \\u003e20}\")\n", - "lineno": 250, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 249, - "start_region_line": 249 - }, - { - "end_outermost_loop": 251, - "end_region_line": 1035, - "line": "\n", - "lineno": 251, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 251, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " # ##########################################\n", - "lineno": 252, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 253, - "end_region_line": 1035, - "line": "\n", - "lineno": 253, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 253, - "start_region_line": 137 - }, - { - "end_outermost_loop": 279, - "end_region_line": 279, - "line": " def handle_comm_result(self, fx, dxl_comm_result, dxl_error):\n", - "lineno": 254, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 254, - "start_region_line": 254 - }, - { - "end_outermost_loop": 255, - "end_region_line": 279, - "line": " \"\"\"Handles comm result and tracks comm errors.\n", - "lineno": 255, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 255, - "start_region_line": 254 - }, - { - "end_outermost_loop": 256, - "end_region_line": 279, - "line": "\n", - "lineno": 256, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 256, - "start_region_line": 254 - }, - { - "end_outermost_loop": 257, - "end_region_line": 279, - "line": " Parameters\n", - "lineno": 257, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 257, - "start_region_line": 254 - }, - { - "end_outermost_loop": 258, - "end_region_line": 279, - "line": " ----------\n", - "lineno": 258, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 258, - "start_region_line": 254 - }, - { - "end_outermost_loop": 259, - "end_region_line": 279, - "line": " fx : str\n", - "lineno": 259, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 259, - "start_region_line": 254 - }, - { - "end_outermost_loop": 260, - "end_region_line": 279, - "line": " control table address label\n", - "lineno": 260, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 260, - "start_region_line": 254 - }, - { - "end_outermost_loop": 261, - "end_region_line": 279, - "line": " dxl_comm_result : int\n", - "lineno": 261, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 261, - "start_region_line": 254 - }, - { - "end_outermost_loop": 262, - "end_region_line": 279, - "line": " communication result from options `COMM_CODES`\n", - "lineno": 262, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 262, - "start_region_line": 254 - }, - { - "end_outermost_loop": 263, - "end_region_line": 279, - "line": " dxl_error : int\n", - "lineno": 263, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 263, - "start_region_line": 254 - }, - { - "end_outermost_loop": 264, - "end_region_line": 279, - "line": " hardware errors sent by the dynamixel\n", - "lineno": 264, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 264, - "start_region_line": 254 - }, - { - "end_outermost_loop": 265, - "end_region_line": 279, - "line": "\n", - "lineno": 265, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 254 - }, - { - "end_outermost_loop": 266, - "end_region_line": 279, - "line": " Returns\n", - "lineno": 266, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 266, - "start_region_line": 254 - }, - { - "end_outermost_loop": 267, - "end_region_line": 279, - "line": " -------\n", - "lineno": 267, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 267, - "start_region_line": 254 - }, - { - "end_outermost_loop": 268, - "end_region_line": 279, - "line": " bool\n", - "lineno": 268, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 268, - "start_region_line": 254 - }, - { - "end_outermost_loop": 269, - "end_region_line": 279, - "line": " True if successful result, False otherwise\n", - "lineno": 269, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 269, - "start_region_line": 254 - }, - { - "end_outermost_loop": 270, - "end_region_line": 279, - "line": " \"\"\"\n", - "lineno": 270, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 270, - "start_region_line": 254 - }, - { - "end_outermost_loop": 273, - "end_region_line": 279, - "line": " if dxl_comm_result==COMM_SUCCESS:\n", - "lineno": 271, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 271, - "start_region_line": 254 - }, - { - "end_outermost_loop": 272, - "end_region_line": 279, - "line": " self.last_comm_success=True\n", - "lineno": 272, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 272, - "start_region_line": 254 - }, - { - "end_outermost_loop": 273, - "end_region_line": 279, - "line": " return True\n", - "lineno": 273, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 273, - "start_region_line": 254 - }, - { - "end_outermost_loop": 274, - "end_region_line": 279, - "line": "\n", - "lineno": 274, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 274, - "start_region_line": 254 - }, - { - "end_outermost_loop": 275, - "end_region_line": 279, - "line": " self.last_comm_success = False\n", - "lineno": 275, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 275, - "start_region_line": 254 - }, - { - "end_outermost_loop": 276, - "end_region_line": 279, - "line": " self.comm_errors += 1\n", - "lineno": 276, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 276, - "start_region_line": 254 - }, - { - "end_outermost_loop": 277, - "end_region_line": 279, - "line": " comm_error_msg = f'DXL Comm Error on {self.usb} ID {self.dxl_id}. Attempted {fx}. Result {COMM_CODES[dxl_comm_result]}. Error {dxl_error}. Total Errors {self.comm_errors}.'\n", - "lineno": 277, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 277, - "start_region_line": 254 - }, - { - "end_outermost_loop": 278, - "end_region_line": 279, - "line": " self.logger.debug(comm_error_msg)\n", - "lineno": 278, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 278, - "start_region_line": 254 - }, - { - "end_outermost_loop": 279, - "end_region_line": 279, - "line": " raise DynamixelCommError(comm_error_msg)\n", - "lineno": 279, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 279, - "start_region_line": 254 - }, - { - "end_outermost_loop": 280, - "end_region_line": 1035, - "line": "\n", - "lineno": 280, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 280, - "start_region_line": 137 - }, - { - "end_outermost_loop": 281, - "end_region_line": 1035, - "line": "\n", - "lineno": 281, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 281, - "start_region_line": 137 - }, - { - "end_outermost_loop": 283, - "end_region_line": 283, - "line": " def get_comm_errors(self):\n", - "lineno": 282, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 282, - "start_region_line": 282 - }, - { - "end_outermost_loop": 283, - "end_region_line": 283, - "line": " return self.comm_errors\n", - "lineno": 283, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 283, - "start_region_line": 282 - }, - { - "end_outermost_loop": 284, - "end_region_line": 1035, - "line": "\n", - "lineno": 284, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 284, - "start_region_line": 137 - }, - { - "end_outermost_loop": 290, - "end_region_line": 290, - "line": " def read_int32_t(self,addr):\n", - "lineno": 285, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 285, - "start_region_line": 285 - }, - { - "end_outermost_loop": 288, - "end_region_line": 290, - "line": " with self.pt_lock:\n", - "lineno": 286, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 286, - "start_region_line": 285 - }, - { - "end_outermost_loop": 288, - "end_region_line": 290, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 287, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 287, - "start_region_line": 285 - }, - { - "end_outermost_loop": 288, - "end_region_line": 290, - "line": " x, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, addr)\n", - "lineno": 288, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 288, - "start_region_line": 285 - }, - { - "end_outermost_loop": 289, - "end_region_line": 290, - "line": " xn = struct.unpack('i', arr.array('B',[DXL_LOBYTE(DXL_LOWORD(x)), DXL_HIBYTE(DXL_LOWORD(x)), DXL_LOBYTE(DXL_HIWORD(x)),DXL_HIBYTE(DXL_HIWORD(x))]))[0]\n", - "lineno": 289, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 285 - }, - { - "end_outermost_loop": 290, - "end_region_line": 290, - "line": " return xn, dxl_comm_result, dxl_error\n", - "lineno": 290, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 290, - "start_region_line": 285 - }, - { - "end_outermost_loop": 291, - "end_region_line": 1035, - "line": "\n", - "lineno": 291, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 291, - "start_region_line": 137 - }, - { - "end_outermost_loop": 297, - "end_region_line": 297, - "line": " def read_int16_t(self,addr):\n", - "lineno": 292, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 292, - "start_region_line": 292 - }, - { - "end_outermost_loop": 295, - "end_region_line": 297, - "line": " with self.pt_lock:\n", - "lineno": 293, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 293, - "start_region_line": 292 - }, - { - "end_outermost_loop": 295, - "end_region_line": 297, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 294, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 294, - "start_region_line": 292 - }, - { - "end_outermost_loop": 295, - "end_region_line": 297, - "line": " x, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, addr)\n", - "lineno": 295, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 26.092949237524003, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 295, - "start_region_line": 292 - }, - { - "end_outermost_loop": 296, - "end_region_line": 297, - "line": " xn = struct.unpack('h', arr.array('B',[DXL_LOBYTE(x), DXL_HIBYTE(x)]))[0]\n", - "lineno": 296, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 296, - "start_region_line": 292 - }, - { - "end_outermost_loop": 297, - "end_region_line": 297, - "line": " return xn, dxl_comm_result, dxl_error\n", - "lineno": 297, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 297, - "start_region_line": 292 - }, - { - "end_outermost_loop": 298, - "end_region_line": 1035, - "line": "\n", - "lineno": 298, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 298, - "start_region_line": 137 - }, - { - "end_outermost_loop": 321, - "end_region_line": 321, - "line": " def do_ping(self,verbose=True):\n", - "lineno": 299, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 299, - "start_region_line": 299 - }, - { - "end_outermost_loop": 301, - "end_region_line": 321, - "line": " if not self.hw_valid:\n", - "lineno": 300, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 300, - "start_region_line": 299 - }, - { - "end_outermost_loop": 301, - "end_region_line": 321, - "line": " return False\n", - "lineno": 301, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 301, - "start_region_line": 299 - }, - { - "end_outermost_loop": 302, - "end_region_line": 321, - "line": " try:\n", - "lineno": 302, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 302, - "start_region_line": 299 - }, - { - "end_outermost_loop": 305, - "end_region_line": 321, - "line": " with self.pt_lock:\n", - "lineno": 303, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 303, - "start_region_line": 299 - }, - { - "end_outermost_loop": 305, - "end_region_line": 321, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 304, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 304, - "start_region_line": 299 - }, - { - "end_outermost_loop": 305, - "end_region_line": 321, - "line": " dxl_model_number, dxl_comm_result, dxl_error = self.packet_handler.ping(self.port_handler, self.dxl_id)\n", - "lineno": 305, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 305, - "start_region_line": 299 - }, - { - "end_outermost_loop": 318, - "end_region_line": 321, - "line": " if self.handle_comm_result('XL430_PING', dxl_comm_result, dxl_error):\n", - "lineno": 306, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 306, - "start_region_line": 299 - }, - { - "end_outermost_loop": 307, - "end_region_line": 321, - "line": " self.dxl_model_name = MODEL_NUMBERS[dxl_model_number]\n", - "lineno": 307, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 307, - "start_region_line": 299 - }, - { - "end_outermost_loop": 308, - "end_region_line": 321, - "line": " self.logger.debug(\"[Dynamixel ID:%03d] ping Succeeded. Dynamixel model : %s. Baud %d\" % (\n", - "lineno": 308, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 308, - "start_region_line": 299 - }, - { - "end_outermost_loop": 309, - "end_region_line": 321, - "line": " self.dxl_id, self.dxl_model_name, self.baud))\n", - "lineno": 309, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 309, - "start_region_line": 299 - }, - { - "end_outermost_loop": 312, - "end_region_line": 321, - "line": " if verbose:\n", - "lineno": 310, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 310, - "start_region_line": 299 - }, - { - "end_outermost_loop": 311, - "end_region_line": 321, - "line": " print(\"[Dynamixel ID:%03d] ping Succeeded. Dynamixel model : %s. Baud %d\" % (\n", - "lineno": 311, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 311, - "start_region_line": 299 - }, - { - "end_outermost_loop": 312, - "end_region_line": 321, - "line": " self.dxl_id, self.dxl_model_name, self.baud))\n", - "lineno": 312, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 312, - "start_region_line": 299 - }, - { - "end_outermost_loop": 313, - "end_region_line": 321, - "line": " return True\n", - "lineno": 313, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 313, - "start_region_line": 299 - }, - { - "end_outermost_loop": 318, - "end_region_line": 321, - "line": " else:\n", - "lineno": 314, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 306, - "start_region_line": 299 - }, - { - "end_outermost_loop": 315, - "end_region_line": 321, - "line": " self.logger.debug(\"[Dynamixel ID:%03d] ping Failed.\" % (self.dxl_id))\n", - "lineno": 315, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 315, - "start_region_line": 299 - }, - { - "end_outermost_loop": 317, - "end_region_line": 321, - "line": " if verbose:\n", - "lineno": 316, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 316, - "start_region_line": 299 - }, - { - "end_outermost_loop": 317, - "end_region_line": 321, - "line": " print(\"[Dynamixel ID:%03d] ping Failed.\" % (self.dxl_id))\n", - "lineno": 317, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 317, - "start_region_line": 299 - }, - { - "end_outermost_loop": 318, - "end_region_line": 321, - "line": " return False\n", - "lineno": 318, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 318, - "start_region_line": 299 - }, - { - "end_outermost_loop": 319, - "end_region_line": 321, - "line": " except DynamixelCommError:\n", - "lineno": 319, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 319, - "start_region_line": 299 - }, - { - "end_outermost_loop": 320, - "end_region_line": 321, - "line": " self.logger.debug(\"[Dynamixel ID:%03d] Comm Error. Ping Failed.\" % (self.dxl_id))\n", - "lineno": 320, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 320, - "start_region_line": 299 - }, - { - "end_outermost_loop": 321, - "end_region_line": 321, - "line": " return False\n", - "lineno": 321, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 321, - "start_region_line": 299 - }, - { - "end_outermost_loop": 322, - "end_region_line": 1035, - "line": "\n", - "lineno": 322, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 322, - "start_region_line": 137 - }, - { - "end_outermost_loop": 330, - "end_region_line": 330, - "line": " def get_id(self):\n", - "lineno": 323, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 323, - "start_region_line": 323 - }, - { - "end_outermost_loop": 325, - "end_region_line": 330, - "line": " if not self.hw_valid:\n", - "lineno": 324, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 324, - "start_region_line": 323 - }, - { - "end_outermost_loop": 325, - "end_region_line": 330, - "line": " return 0\n", - "lineno": 325, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 325, - "start_region_line": 323 - }, - { - "end_outermost_loop": 328, - "end_region_line": 330, - "line": " with self.pt_lock:\n", - "lineno": 326, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 326, - "start_region_line": 323 - }, - { - "end_outermost_loop": 328, - "end_region_line": 330, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 327, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 327, - "start_region_line": 323 - }, - { - "end_outermost_loop": 328, - "end_region_line": 330, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_ID)\n", - "lineno": 328, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 328, - "start_region_line": 323 - }, - { - "end_outermost_loop": 329, - "end_region_line": 330, - "line": " self.handle_comm_result('XL430_ADDR_ID', dxl_comm_result, dxl_error)\n", - "lineno": 329, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 329, - "start_region_line": 323 - }, - { - "end_outermost_loop": 330, - "end_region_line": 330, - "line": " return p\n", - "lineno": 330, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 330, - "start_region_line": 323 - }, - { - "end_outermost_loop": 331, - "end_region_line": 1035, - "line": "\n", - "lineno": 331, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 331, - "start_region_line": 137 - }, - { - "end_outermost_loop": 338, - "end_region_line": 338, - "line": " def set_id(self,id):\n", - "lineno": 332, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 332, - "start_region_line": 332 - }, - { - "end_outermost_loop": 334, - "end_region_line": 338, - "line": " if not self.hw_valid:\n", - "lineno": 333, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 333, - "start_region_line": 332 - }, - { - "end_outermost_loop": 334, - "end_region_line": 338, - "line": " return\n", - "lineno": 334, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 334, - "start_region_line": 332 - }, - { - "end_outermost_loop": 337, - "end_region_line": 338, - "line": " with self.pt_lock:\n", - "lineno": 335, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 335, - "start_region_line": 332 - }, - { - "end_outermost_loop": 337, - "end_region_line": 338, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 336, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 336, - "start_region_line": 332 - }, - { - "end_outermost_loop": 337, - "end_region_line": 338, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_ID, int(id))\n", - "lineno": 337, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 337, - "start_region_line": 332 - }, - { - "end_outermost_loop": 338, - "end_region_line": 338, - "line": " self.handle_comm_result('XL430_ADDR_ID', dxl_comm_result, dxl_error)\n", - "lineno": 338, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 332 - }, - { - "end_outermost_loop": 339, - "end_region_line": 1035, - "line": "\n", - "lineno": 339, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 339, - "start_region_line": 137 - }, - { - "end_outermost_loop": 355, - "end_region_line": 355, - "line": " def get_baud_rate(self):\n", - "lineno": 340, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 340, - "start_region_line": 340 - }, - { - "end_outermost_loop": 341, - "end_region_line": 355, - "line": " \"\"\"Retrieves the baud rate of Dynamixel communication.\n", - "lineno": 341, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 341, - "start_region_line": 340 - }, - { - "end_outermost_loop": 342, - "end_region_line": 355, - "line": "\n", - "lineno": 342, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 342, - "start_region_line": 340 - }, - { - "end_outermost_loop": 343, - "end_region_line": 355, - "line": " Returns\n", - "lineno": 343, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 343, - "start_region_line": 340 - }, - { - "end_outermost_loop": 344, - "end_region_line": 355, - "line": " -------\n", - "lineno": 344, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 344, - "start_region_line": 340 - }, - { - "end_outermost_loop": 345, - "end_region_line": 355, - "line": " int\n", - "lineno": 345, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 345, - "start_region_line": 340 - }, - { - "end_outermost_loop": 346, - "end_region_line": 355, - "line": " baud rate from `BAUD_MAP` if successful communication, else -1\n", - "lineno": 346, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 346, - "start_region_line": 340 - }, - { - "end_outermost_loop": 347, - "end_region_line": 355, - "line": " \"\"\"\n", - "lineno": 347, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 347, - "start_region_line": 340 - }, - { - "end_outermost_loop": 349, - "end_region_line": 355, - "line": " if not self.hw_valid:\n", - "lineno": 348, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 348, - "start_region_line": 340 - }, - { - "end_outermost_loop": 349, - "end_region_line": 355, - "line": " return -1\n", - "lineno": 349, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 349, - "start_region_line": 340 - }, - { - "end_outermost_loop": 352, - "end_region_line": 355, - "line": " with self.pt_lock:\n", - "lineno": 350, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 350, - "start_region_line": 340 - }, - { - "end_outermost_loop": 352, - "end_region_line": 355, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 351, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 351, - "start_region_line": 340 - }, - { - "end_outermost_loop": 352, - "end_region_line": 355, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BAUD_RATE)\n", - "lineno": 352, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 340 - }, - { - "end_outermost_loop": 354, - "end_region_line": 355, - "line": " if not self.handle_comm_result('XL430_ADDR_BAUD_RATE', dxl_comm_result, dxl_error):\n", - "lineno": 353, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 353, - "start_region_line": 340 - }, - { - "end_outermost_loop": 354, - "end_region_line": 355, - "line": " return -1\n", - "lineno": 354, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 354, - "start_region_line": 340 - }, - { - "end_outermost_loop": 355, - "end_region_line": 355, - "line": " return list(BAUD_MAP.keys())[list(BAUD_MAP.values()).index(p)]\n", - "lineno": 355, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 355, - "start_region_line": 340 - }, - { - "end_outermost_loop": 356, - "end_region_line": 1035, - "line": "\n", - "lineno": 356, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 356, - "start_region_line": 137 - }, - { - "end_outermost_loop": 380, - "end_region_line": 380, - "line": " def set_baud_rate(self, rate):\n", - "lineno": 357, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 357, - "start_region_line": 357 - }, - { - "end_outermost_loop": 358, - "end_region_line": 380, - "line": " \"\"\"Sets the baud rate of Dynamixel communication.\n", - "lineno": 358, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 358, - "start_region_line": 357 - }, - { - "end_outermost_loop": 359, - "end_region_line": 380, - "line": "\n", - "lineno": 359, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 357 - }, - { - "end_outermost_loop": 360, - "end_region_line": 380, - "line": " Parameters\n", - "lineno": 360, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 360, - "start_region_line": 357 - }, - { - "end_outermost_loop": 361, - "end_region_line": 380, - "line": " ----------\n", - "lineno": 361, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 361, - "start_region_line": 357 - }, - { - "end_outermost_loop": 362, - "end_region_line": 380, - "line": " rate : int\n", - "lineno": 362, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 362, - "start_region_line": 357 - }, - { - "end_outermost_loop": 363, - "end_region_line": 380, - "line": " baud rate option from `BAUD_MAP`\n", - "lineno": 363, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 363, - "start_region_line": 357 - }, - { - "end_outermost_loop": 364, - "end_region_line": 380, - "line": "\n", - "lineno": 364, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 364, - "start_region_line": 357 - }, - { - "end_outermost_loop": 365, - "end_region_line": 380, - "line": " Returns\n", - "lineno": 365, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 365, - "start_region_line": 357 - }, - { - "end_outermost_loop": 366, - "end_region_line": 380, - "line": " -------\n", - "lineno": 366, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 366, - "start_region_line": 357 - }, - { - "end_outermost_loop": 367, - "end_region_line": 380, - "line": " bool\n", - "lineno": 367, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 367, - "start_region_line": 357 - }, - { - "end_outermost_loop": 368, - "end_region_line": 380, - "line": " True if the baud rate was set successfully, else False\n", - "lineno": 368, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 368, - "start_region_line": 357 - }, - { - "end_outermost_loop": 369, - "end_region_line": 380, - "line": " \"\"\"\n", - "lineno": 369, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 369, - "start_region_line": 357 - }, - { - "end_outermost_loop": 371, - "end_region_line": 380, - "line": " if not self.hw_valid:\n", - "lineno": 370, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 370, - "start_region_line": 357 - }, - { - "end_outermost_loop": 371, - "end_region_line": 380, - "line": " return -1\n", - "lineno": 371, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 371, - "start_region_line": 357 - }, - { - "end_outermost_loop": 374, - "end_region_line": 380, - "line": " if rate not in BAUD_MAP:\n", - "lineno": 372, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 372, - "start_region_line": 357 - }, - { - "end_outermost_loop": 373, - "end_region_line": 380, - "line": " self.logger.debug(\"Invalid baud rate\")\n", - "lineno": 373, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 373, - "start_region_line": 357 - }, - { - "end_outermost_loop": 374, - "end_region_line": 380, - "line": " return False\n", - "lineno": 374, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 374, - "start_region_line": 357 - }, - { - "end_outermost_loop": 375, - "end_region_line": 380, - "line": "\n", - "lineno": 375, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 375, - "start_region_line": 357 - }, - { - "end_outermost_loop": 376, - "end_region_line": 380, - "line": " self.disable_torque()\n", - "lineno": 376, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 376, - "start_region_line": 357 - }, - { - "end_outermost_loop": 379, - "end_region_line": 380, - "line": " with self.pt_lock:\n", - "lineno": 377, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 377, - "start_region_line": 357 - }, - { - "end_outermost_loop": 379, - "end_region_line": 380, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 378, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 378, - "start_region_line": 357 - }, - { - "end_outermost_loop": 379, - "end_region_line": 380, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BAUD_RATE, BAUD_MAP[rate])\n", - "lineno": 379, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 379, - "start_region_line": 357 - }, - { - "end_outermost_loop": 380, - "end_region_line": 380, - "line": " return self.handle_comm_result('XL430_ADDR_BAUD_RATE', dxl_comm_result, dxl_error)\n", - "lineno": 380, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 380, - "start_region_line": 357 - }, - { - "end_outermost_loop": 381, - "end_region_line": 1035, - "line": "\n", - "lineno": 381, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 381, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " #Hello Robot Specific\n", - "lineno": 382, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 390, - "end_region_line": 390, - "line": " def is_calibrated(self):\n", - "lineno": 383, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 383, - "start_region_line": 383 - }, - { - "end_outermost_loop": 385, - "end_region_line": 390, - "line": " if not self.hw_valid:\n", - "lineno": 384, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 384, - "start_region_line": 383 - }, - { - "end_outermost_loop": 385, - "end_region_line": 390, - "line": " return False\n", - "lineno": 385, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 385, - "start_region_line": 383 - }, - { - "end_outermost_loop": 388, - "end_region_line": 390, - "line": " with self.pt_lock:\n", - "lineno": 386, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 386, - "start_region_line": 383 - }, - { - "end_outermost_loop": 388, - "end_region_line": 390, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 387, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 387, - "start_region_line": 383 - }, - { - "end_outermost_loop": 388, - "end_region_line": 390, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_HELLO_CALIBRATED)\n", - "lineno": 388, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 388, - "start_region_line": 383 - }, - { - "end_outermost_loop": 389, - "end_region_line": 390, - "line": " self.handle_comm_result('XL430_ADDR_HELLO_CALIBRATED', dxl_comm_result, dxl_error)\n", - "lineno": 389, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 389, - "start_region_line": 383 - }, - { - "end_outermost_loop": 390, - "end_region_line": 390, - "line": " return p\n", - "lineno": 390, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 390, - "start_region_line": 383 - }, - { - "end_outermost_loop": 391, - "end_region_line": 1035, - "line": "\n", - "lineno": 391, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 391, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " # Hello Robot Specific\n", - "lineno": 392, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 399, - "end_region_line": 399, - "line": " def set_calibrated(self,x):\n", - "lineno": 393, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 393, - "start_region_line": 393 - }, - { - "end_outermost_loop": 395, - "end_region_line": 399, - "line": " if not self.hw_valid:\n", - "lineno": 394, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 394, - "start_region_line": 393 - }, - { - "end_outermost_loop": 395, - "end_region_line": 399, - "line": " return\n", - "lineno": 395, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 395, - "start_region_line": 393 - }, - { - "end_outermost_loop": 398, - "end_region_line": 399, - "line": " with self.pt_lock:\n", - "lineno": 396, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 396, - "start_region_line": 393 - }, - { - "end_outermost_loop": 398, - "end_region_line": 399, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 397, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 397, - "start_region_line": 393 - }, - { - "end_outermost_loop": 398, - "end_region_line": 399, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_HELLO_CALIBRATED, int(x!=0))\n", - "lineno": 398, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 398, - "start_region_line": 393 - }, - { - "end_outermost_loop": 399, - "end_region_line": 399, - "line": " self.handle_comm_result('XL430_ADDR_HELLO_CALIBRATED', dxl_comm_result, dxl_error)\n", - "lineno": 399, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 399, - "start_region_line": 393 - }, - { - "end_outermost_loop": 400, - "end_region_line": 1035, - "line": "\n", - "lineno": 400, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 400, - "start_region_line": 137 - }, - { - "end_outermost_loop": 412, - "end_region_line": 412, - "line": " def do_reboot(self):\n", - "lineno": 401, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 401, - "start_region_line": 401 - }, - { - "end_outermost_loop": 403, - "end_region_line": 412, - "line": " if not self.hw_valid:\n", - "lineno": 402, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 402, - "start_region_line": 401 - }, - { - "end_outermost_loop": 403, - "end_region_line": 412, - "line": " return False\n", - "lineno": 403, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 403, - "start_region_line": 401 - }, - { - "end_outermost_loop": 406, - "end_region_line": 412, - "line": " with self.pt_lock:\n", - "lineno": 404, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 404, - "start_region_line": 401 - }, - { - "end_outermost_loop": 406, - "end_region_line": 412, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 405, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 405, - "start_region_line": 401 - }, - { - "end_outermost_loop": 406, - "end_region_line": 412, - "line": " dxl_comm_result, dxl_error = self.packet_handler.reboot(self.port_handler, self.dxl_id)\n", - "lineno": 406, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 406, - "start_region_line": 401 - }, - { - "end_outermost_loop": 412, - "end_region_line": 412, - "line": " if self.handle_comm_result('XL430_REBOOT', dxl_comm_result, dxl_error):\n", - "lineno": 407, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 407, - "start_region_line": 401 - }, - { - "end_outermost_loop": 408, - "end_region_line": 412, - "line": " print(\"[Dynamixel ID:%03d] Reboot Succeeded.\" % (self.dxl_id))\n", - "lineno": 408, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 408, - "start_region_line": 401 - }, - { - "end_outermost_loop": 409, - "end_region_line": 412, - "line": " return True\n", - "lineno": 409, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 409, - "start_region_line": 401 - }, - { - "end_outermost_loop": 412, - "end_region_line": 412, - "line": " else:\n", - "lineno": 410, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 407, - "start_region_line": 401 - }, - { - "end_outermost_loop": 411, - "end_region_line": 412, - "line": " print(\"[Dynamixel ID:%03d] Reboot Failed.\" % (self.dxl_id))\n", - "lineno": 411, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 411, - "start_region_line": 401 - }, - { - "end_outermost_loop": 412, - "end_region_line": 412, - "line": " return False\n", - "lineno": 412, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 412, - "start_region_line": 401 - }, - { - "end_outermost_loop": 413, - "end_region_line": 1035, - "line": "\n", - "lineno": 413, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 413, - "start_region_line": 137 - }, - { - "end_outermost_loop": 421, - "end_region_line": 421, - "line": " def get_shutdown(self):\n", - "lineno": 414, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 414, - "start_region_line": 414 - }, - { - "end_outermost_loop": 416, - "end_region_line": 421, - "line": " if not self.hw_valid:\n", - "lineno": 415, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 415, - "start_region_line": 414 - }, - { - "end_outermost_loop": 416, - "end_region_line": 421, - "line": " return 0\n", - "lineno": 416, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 416, - "start_region_line": 414 - }, - { - "end_outermost_loop": 419, - "end_region_line": 421, - "line": " with self.pt_lock:\n", - "lineno": 417, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 417, - "start_region_line": 414 - }, - { - "end_outermost_loop": 419, - "end_region_line": 421, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 418, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 418, - "start_region_line": 414 - }, - { - "end_outermost_loop": 419, - "end_region_line": 421, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_SHUTDOWN)\n", - "lineno": 419, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 419, - "start_region_line": 414 - }, - { - "end_outermost_loop": 420, - "end_region_line": 421, - "line": " self.handle_comm_result('XL430_ADDR_SHUTDOWN', dxl_comm_result, dxl_error)\n", - "lineno": 420, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 420, - "start_region_line": 414 - }, - { - "end_outermost_loop": 421, - "end_region_line": 421, - "line": " return p\n", - "lineno": 421, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 421, - "start_region_line": 414 - }, - { - "end_outermost_loop": 422, - "end_region_line": 1035, - "line": "\n", - "lineno": 422, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 422, - "start_region_line": 137 - }, - { - "end_outermost_loop": 429, - "end_region_line": 429, - "line": " def set_shutdown(self):\n", - "lineno": 423, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 423, - "start_region_line": 423 - }, - { - "end_outermost_loop": 425, - "end_region_line": 429, - "line": " if not self.hw_valid:\n", - "lineno": 424, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 424, - "start_region_line": 423 - }, - { - "end_outermost_loop": 425, - "end_region_line": 429, - "line": " return\n", - "lineno": 425, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 425, - "start_region_line": 423 - }, - { - "end_outermost_loop": 428, - "end_region_line": 429, - "line": " with self.pt_lock:\n", - "lineno": 426, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 426, - "start_region_line": 423 - }, - { - "end_outermost_loop": 428, - "end_region_line": 429, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 427, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 427, - "start_region_line": 423 - }, - { - "end_outermost_loop": 428, - "end_region_line": 429, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_SHUTDOWN, id)\n", - "lineno": 428, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 428, - "start_region_line": 423 - }, - { - "end_outermost_loop": 429, - "end_region_line": 429, - "line": " self.handle_comm_result('XL430_ADDR_SHUTDOWN', dxl_comm_result, dxl_error)\n", - "lineno": 429, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 429, - "start_region_line": 423 - }, - { - "end_outermost_loop": 430, - "end_region_line": 1035, - "line": "\n", - "lineno": 430, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 430, - "start_region_line": 137 - }, - { - "end_outermost_loop": 439, - "end_region_line": 439, - "line": " def get_hardware_error(self):\n", - "lineno": 431, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 431, - "start_region_line": 431 - }, - { - "end_outermost_loop": 433, - "end_region_line": 439, - "line": " if not self.hw_valid:\n", - "lineno": 432, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 432, - "start_region_line": 431 - }, - { - "end_outermost_loop": 433, - "end_region_line": 439, - "line": " return 0\n", - "lineno": 433, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 433, - "start_region_line": 431 - }, - { - "end_outermost_loop": 437, - "end_region_line": 439, - "line": " with self.pt_lock:\n", - "lineno": 434, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 434, - "start_region_line": 431 - }, - { - "end_outermost_loop": 437, - "end_region_line": 439, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 435, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 435, - "start_region_line": 431 - }, - { - "end_outermost_loop": 436, - "end_region_line": 439, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,\n", - "lineno": 436, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 436, - "start_region_line": 431 - }, - { - "end_outermost_loop": 437, - "end_region_line": 439, - "line": " XL430_ADDR_HARDWARE_ERROR_STATUS)\n", - "lineno": 437, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 437, - "start_region_line": 431 - }, - { - "end_outermost_loop": 438, - "end_region_line": 439, - "line": " self.handle_comm_result('XL430_ADDR_HARDWARE_ERROR_STATUS', dxl_comm_result, dxl_error)\n", - "lineno": 438, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 438, - "start_region_line": 431 - }, - { - "end_outermost_loop": 439, - "end_region_line": 439, - "line": " return p\n", - "lineno": 439, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 439, - "start_region_line": 431 - }, - { - "end_outermost_loop": 440, - "end_region_line": 1035, - "line": "\n", - "lineno": 440, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 440, - "start_region_line": 137 - }, - { - "end_outermost_loop": 441, - "end_region_line": 1035, - "line": "\n", - "lineno": 441, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 441, - "start_region_line": 137 - }, - { - "end_outermost_loop": 448, - "end_region_line": 448, - "line": " def enable_torque(self):\n", - "lineno": 442, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 442, - "start_region_line": 442 - }, - { - "end_outermost_loop": 444, - "end_region_line": 448, - "line": " if not self.hw_valid:\n", - "lineno": 443, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 443, - "start_region_line": 442 - }, - { - "end_outermost_loop": 444, - "end_region_line": 448, - "line": " return\n", - "lineno": 444, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 444, - "start_region_line": 442 - }, - { - "end_outermost_loop": 447, - "end_region_line": 448, - "line": " with self.pt_lock:\n", - "lineno": 445, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 445, - "start_region_line": 442 - }, - { - "end_outermost_loop": 447, - "end_region_line": 448, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 446, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 446, - "start_region_line": 442 - }, - { - "end_outermost_loop": 447, - "end_region_line": 448, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TORQUE_ENABLE, 1)\n", - "lineno": 447, - "memory_samples": [ - [ - 1779390877, - 50.50844478607178 - ] - ], - "n_avg_mb": 0.0, - "n_copy_mb_s": 45.243716051609546, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 10.002431869506836, - "n_malloc_mb": 10.002431869506836, - "n_mallocs": 0, - "n_peak_mb": 10.002431869506836, - "n_python_fraction": 0.962637, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.19989979385085394, - "start_outermost_loop": 447, - "start_region_line": 442 - }, - { - "end_outermost_loop": 448, - "end_region_line": 448, - "line": " self.handle_comm_result('XL430_ADDR_TORQUE_ENABLE', dxl_comm_result, dxl_error)\n", - "lineno": 448, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 448, - "start_region_line": 442 - }, - { - "end_outermost_loop": 449, - "end_region_line": 1035, - "line": "\n", - "lineno": 449, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 449, - "start_region_line": 137 - }, - { - "end_outermost_loop": 450, - "end_region_line": 1035, - "line": "\n", - "lineno": 450, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 450, - "start_region_line": 137 - }, - { - "end_outermost_loop": 457, - "end_region_line": 457, - "line": " def disable_torque(self):\n", - "lineno": 451, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 451, - "start_region_line": 451 - }, - { - "end_outermost_loop": 453, - "end_region_line": 457, - "line": " if not self.hw_valid:\n", - "lineno": 452, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 452, - "start_region_line": 451 - }, - { - "end_outermost_loop": 453, - "end_region_line": 457, - "line": " return\n", - "lineno": 453, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 453, - "start_region_line": 451 - }, - { - "end_outermost_loop": 456, - "end_region_line": 457, - "line": " with self.pt_lock:\n", - "lineno": 454, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 454, - "start_region_line": 451 - }, - { - "end_outermost_loop": 456, - "end_region_line": 457, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 455, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 455, - "start_region_line": 451 - }, - { - "end_outermost_loop": 456, - "end_region_line": 457, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TORQUE_ENABLE, 0)\n", - "lineno": 456, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 40.3356627451006, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 456, - "start_region_line": 451 - }, - { - "end_outermost_loop": 457, - "end_region_line": 457, - "line": " self.handle_comm_result('XL430_ADDR_TORQUE_ENABLE', dxl_comm_result, dxl_error)\n", - "lineno": 457, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 457, - "start_region_line": 451 - }, - { - "end_outermost_loop": 458, - "end_region_line": 1035, - "line": "\n", - "lineno": 458, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 458, - "start_region_line": 137 - }, - { - "end_outermost_loop": 465, - "end_region_line": 465, - "line": " def set_return_delay_time(self,x):\n", - "lineno": 459, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 459, - "start_region_line": 459 - }, - { - "end_outermost_loop": 461, - "end_region_line": 465, - "line": " if not self.hw_valid:\n", - "lineno": 460, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 460, - "start_region_line": 459 - }, - { - "end_outermost_loop": 461, - "end_region_line": 465, - "line": " return\n", - "lineno": 461, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 461, - "start_region_line": 459 - }, - { - "end_outermost_loop": 464, - "end_region_line": 465, - "line": " with self.pt_lock:\n", - "lineno": 462, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 462, - "start_region_line": 459 - }, - { - "end_outermost_loop": 464, - "end_region_line": 465, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 463, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 463, - "start_region_line": 459 - }, - { - "end_outermost_loop": 464, - "end_region_line": 465, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_RETURN_DELAY_TIME, int(x))\n", - "lineno": 464, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 464, - "start_region_line": 459 - }, - { - "end_outermost_loop": 465, - "end_region_line": 465, - "line": " self.handle_comm_result('XL430_ADDR_RETURN_DELAY_TIME', dxl_comm_result, dxl_error)\n", - "lineno": 465, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 465, - "start_region_line": 459 - }, - { - "end_outermost_loop": 466, - "end_region_line": 1035, - "line": "\n", - "lineno": 466, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 466, - "start_region_line": 137 - }, - { - "end_outermost_loop": 475, - "end_region_line": 475, - "line": " def get_return_delay_time(self):\n", - "lineno": 467, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 467, - "start_region_line": 467 - }, - { - "end_outermost_loop": 469, - "end_region_line": 475, - "line": " if not self.hw_valid:\n", - "lineno": 468, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 468, - "start_region_line": 467 - }, - { - "end_outermost_loop": 469, - "end_region_line": 475, - "line": " return 0\n", - "lineno": 469, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 469, - "start_region_line": 467 - }, - { - "end_outermost_loop": 473, - "end_region_line": 475, - "line": " with self.pt_lock:\n", - "lineno": 470, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 470, - "start_region_line": 467 - }, - { - "end_outermost_loop": 473, - "end_region_line": 475, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 471, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 471, - "start_region_line": 467 - }, - { - "end_outermost_loop": 472, - "end_region_line": 475, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,\n", - "lineno": 472, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 472, - "start_region_line": 467 - }, - { - "end_outermost_loop": 473, - "end_region_line": 475, - "line": " XL430_ADDR_RETURN_DELAY_TIME)\n", - "lineno": 473, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 473, - "start_region_line": 467 - }, - { - "end_outermost_loop": 474, - "end_region_line": 475, - "line": " self.handle_comm_result('XL430_ADDR_HARDWARE_ERROR_STATUS', dxl_comm_result, dxl_error)\n", - "lineno": 474, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 474, - "start_region_line": 467 - }, - { - "end_outermost_loop": 475, - "end_region_line": 475, - "line": " return p\n", - "lineno": 475, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 475, - "start_region_line": 467 - }, - { - "end_outermost_loop": 476, - "end_region_line": 1035, - "line": "\n", - "lineno": 476, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 476, - "start_region_line": 137 - }, - { - "end_outermost_loop": 483, - "end_region_line": 483, - "line": " def set_pwm(self,x):\n", - "lineno": 477, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 477, - "start_region_line": 477 - }, - { - "end_outermost_loop": 479, - "end_region_line": 483, - "line": " if not self.hw_valid:\n", - "lineno": 478, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 478, - "start_region_line": 477 - }, - { - "end_outermost_loop": 479, - "end_region_line": 483, - "line": " return\n", - "lineno": 479, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 479, - "start_region_line": 477 - }, - { - "end_outermost_loop": 482, - "end_region_line": 483, - "line": " with self.pt_lock:\n", - "lineno": 480, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 480, - "start_region_line": 477 - }, - { - "end_outermost_loop": 482, - "end_region_line": 483, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 481, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 481, - "start_region_line": 477 - }, - { - "end_outermost_loop": 482, - "end_region_line": 483, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_GOAL_PWM, int(x))\n", - "lineno": 482, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 482, - "start_region_line": 477 - }, - { - "end_outermost_loop": 483, - "end_region_line": 483, - "line": " self.handle_comm_result('XL430_ADDR_GOAL_PWM', dxl_comm_result, dxl_error)\n", - "lineno": 483, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 483, - "start_region_line": 477 - }, - { - "end_outermost_loop": 484, - "end_region_line": 1035, - "line": "\n", - "lineno": 484, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 484, - "start_region_line": 137 - }, - { - "end_outermost_loop": 489, - "end_region_line": 489, - "line": " def set_current_limit(self,i):\n", - "lineno": 485, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 485, - "start_region_line": 485 - }, - { - "end_outermost_loop": 488, - "end_region_line": 489, - "line": " with self.pt_lock:\n", - "lineno": 486, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 486, - "start_region_line": 485 - }, - { - "end_outermost_loop": 488, - "end_region_line": 489, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 487, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 487, - "start_region_line": 485 - }, - { - "end_outermost_loop": 488, - "end_region_line": 489, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XM430_ADDR_CURRENT_LIMIT, int(i))\n", - "lineno": 488, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 488, - "start_region_line": 485 - }, - { - "end_outermost_loop": 489, - "end_region_line": 489, - "line": " self.handle_comm_result('XM430_ADDR_CURRENT_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 489, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 489, - "start_region_line": 485 - }, - { - "end_outermost_loop": 490, - "end_region_line": 1035, - "line": "\n", - "lineno": 490, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 490, - "start_region_line": 137 - }, - { - "end_outermost_loop": 499, - "end_region_line": 499, - "line": " def get_current_limit(self):\n", - "lineno": 491, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 491, - "start_region_line": 491 - }, - { - "end_outermost_loop": 493, - "end_region_line": 499, - "line": " if not self.hw_valid:\n", - "lineno": 492, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 492, - "start_region_line": 491 - }, - { - "end_outermost_loop": 493, - "end_region_line": 499, - "line": " return 0\n", - "lineno": 493, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 493, - "start_region_line": 491 - }, - { - "end_outermost_loop": 497, - "end_region_line": 499, - "line": " with self.pt_lock:\n", - "lineno": 494, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 494, - "start_region_line": 491 - }, - { - "end_outermost_loop": 497, - "end_region_line": 499, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 495, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 495, - "start_region_line": 491 - }, - { - "end_outermost_loop": 496, - "end_region_line": 499, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id,\n", - "lineno": 496, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 496, - "start_region_line": 491 - }, - { - "end_outermost_loop": 497, - "end_region_line": 499, - "line": " XM430_ADDR_CURRENT_LIMIT)\n", - "lineno": 497, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 497, - "start_region_line": 491 - }, - { - "end_outermost_loop": 498, - "end_region_line": 499, - "line": " self.handle_comm_result('XM430_ADDR_CURRENT_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 498, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 498, - "start_region_line": 491 - }, - { - "end_outermost_loop": 499, - "end_region_line": 499, - "line": " return p\n", - "lineno": 499, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 499, - "start_region_line": 491 - }, - { - "end_outermost_loop": 500, - "end_region_line": 1035, - "line": "\n", - "lineno": 500, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 500, - "start_region_line": 137 - }, - { - "end_outermost_loop": 507, - "end_region_line": 507, - "line": " def enable_multiturn(self):\n", - "lineno": 501, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 501, - "start_region_line": 501 - }, - { - "end_outermost_loop": 503, - "end_region_line": 507, - "line": " if not self.hw_valid:\n", - "lineno": 502, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 502, - "start_region_line": 501 - }, - { - "end_outermost_loop": 503, - "end_region_line": 507, - "line": " return\n", - "lineno": 503, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 503, - "start_region_line": 501 - }, - { - "end_outermost_loop": 506, - "end_region_line": 507, - "line": " with self.pt_lock:\n", - "lineno": 504, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 504, - "start_region_line": 501 - }, - { - "end_outermost_loop": 506, - "end_region_line": 507, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 505, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 505, - "start_region_line": 501 - }, - { - "end_outermost_loop": 506, - "end_region_line": 507, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 4)\n", - "lineno": 506, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 506, - "start_region_line": 501 - }, - { - "end_outermost_loop": 507, - "end_region_line": 507, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 507, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 501 - }, - { - "end_outermost_loop": 508, - "end_region_line": 1035, - "line": "\n", - "lineno": 508, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 508, - "start_region_line": 137 - }, - { - "end_outermost_loop": 515, - "end_region_line": 515, - "line": " def enable_pwm(self):\n", - "lineno": 509, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 509, - "start_region_line": 509 - }, - { - "end_outermost_loop": 511, - "end_region_line": 515, - "line": " if not self.hw_valid:\n", - "lineno": 510, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 510, - "start_region_line": 509 - }, - { - "end_outermost_loop": 511, - "end_region_line": 515, - "line": " return\n", - "lineno": 511, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 511, - "start_region_line": 509 - }, - { - "end_outermost_loop": 514, - "end_region_line": 515, - "line": " with self.pt_lock:\n", - "lineno": 512, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 512, - "start_region_line": 509 - }, - { - "end_outermost_loop": 514, - "end_region_line": 515, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 513, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 513, - "start_region_line": 509 - }, - { - "end_outermost_loop": 514, - "end_region_line": 515, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 16)\n", - "lineno": 514, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 514, - "start_region_line": 509 - }, - { - "end_outermost_loop": 515, - "end_region_line": 515, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 515, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 509 - }, - { - "end_outermost_loop": 516, - "end_region_line": 1035, - "line": "\n", - "lineno": 516, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 516, - "start_region_line": 137 - }, - { - "end_outermost_loop": 523, - "end_region_line": 523, - "line": " def enable_pos(self):\n", - "lineno": 517, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 517, - "start_region_line": 517 - }, - { - "end_outermost_loop": 519, - "end_region_line": 523, - "line": " if not self.hw_valid:\n", - "lineno": 518, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 518, - "start_region_line": 517 - }, - { - "end_outermost_loop": 519, - "end_region_line": 523, - "line": " return\n", - "lineno": 519, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 519, - "start_region_line": 517 - }, - { - "end_outermost_loop": 522, - "end_region_line": 523, - "line": " with self.pt_lock:\n", - "lineno": 520, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 520, - "start_region_line": 517 - }, - { - "end_outermost_loop": 522, - "end_region_line": 523, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 521, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 521, - "start_region_line": 517 - }, - { - "end_outermost_loop": 522, - "end_region_line": 523, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 3)\n", - "lineno": 522, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 27.619792161021117, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 522, - "start_region_line": 517 - }, - { - "end_outermost_loop": 523, - "end_region_line": 523, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 523, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 523, - "start_region_line": 517 - }, - { - "end_outermost_loop": 524, - "end_region_line": 1035, - "line": "\n", - "lineno": 524, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 524, - "start_region_line": 137 - }, - { - "end_outermost_loop": 531, - "end_region_line": 531, - "line": " def enable_vel(self):\n", - "lineno": 525, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 525, - "start_region_line": 525 - }, - { - "end_outermost_loop": 527, - "end_region_line": 531, - "line": " if not self.hw_valid:\n", - "lineno": 526, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 526, - "start_region_line": 525 - }, - { - "end_outermost_loop": 527, - "end_region_line": 531, - "line": " return\n", - "lineno": 527, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 527, - "start_region_line": 525 - }, - { - "end_outermost_loop": 530, - "end_region_line": 531, - "line": " with self.pt_lock:\n", - "lineno": 528, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 528, - "start_region_line": 525 - }, - { - "end_outermost_loop": 530, - "end_region_line": 531, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 529, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 529, - "start_region_line": 525 - }, - { - "end_outermost_loop": 530, - "end_region_line": 531, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 1)\n", - "lineno": 530, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 530, - "start_region_line": 525 - }, - { - "end_outermost_loop": 531, - "end_region_line": 531, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 531, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 531, - "start_region_line": 525 - }, - { - "end_outermost_loop": 532, - "end_region_line": 1035, - "line": "\n", - "lineno": 532, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " # XM Series\n", - "lineno": 533, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " # https://forum.robotis.com/t/how-does-current-mode-work-in-xm430-w210/203\n", - "lineno": 534, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 535, - "end_region_line": 1035, - "line": "\n", - "lineno": 535, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 535, - "start_region_line": 137 - }, - { - "end_outermost_loop": 540, - "end_region_line": 540, - "line": " def enable_pos_current(self):\n", - "lineno": 536, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 536, - "start_region_line": 536 - }, - { - "end_outermost_loop": 539, - "end_region_line": 540, - "line": " with self.pt_lock:\n", - "lineno": 537, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 537, - "start_region_line": 536 - }, - { - "end_outermost_loop": 539, - "end_region_line": 540, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 538, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 538, - "start_region_line": 536 - }, - { - "end_outermost_loop": 539, - "end_region_line": 540, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 5)\n", - "lineno": 539, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 539, - "start_region_line": 536 - }, - { - "end_outermost_loop": 540, - "end_region_line": 540, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 540, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 540, - "start_region_line": 536 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " #XM Series\n", - "lineno": 541, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 546, - "end_region_line": 546, - "line": " def enable_current(self):\n", - "lineno": 542, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 542, - "start_region_line": 542 - }, - { - "end_outermost_loop": 545, - "end_region_line": 546, - "line": " with self.pt_lock:\n", - "lineno": 543, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 543, - "start_region_line": 542 - }, - { - "end_outermost_loop": 545, - "end_region_line": 546, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 544, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 544, - "start_region_line": 542 - }, - { - "end_outermost_loop": 545, - "end_region_line": 546, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_OPERATING_MODE, 0)\n", - "lineno": 545, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 545, - "start_region_line": 542 - }, - { - "end_outermost_loop": 546, - "end_region_line": 546, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 546, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 546, - "start_region_line": 542 - }, - { - "end_outermost_loop": 547, - "end_region_line": 1035, - "line": "\n", - "lineno": 547, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 547, - "start_region_line": 137 - }, - { - "end_outermost_loop": 548, - "end_region_line": 1035, - "line": "\n", - "lineno": 548, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 548, - "start_region_line": 137 - }, - { - "end_outermost_loop": 560, - "end_region_line": 560, - "line": " def get_operating_mode(self):\n", - "lineno": 549, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 549, - "start_region_line": 549 - }, - { - "end_outermost_loop": 551, - "end_region_line": 560, - "line": " if not self.hw_valid:\n", - "lineno": 550, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 550, - "start_region_line": 549 - }, - { - "end_outermost_loop": 551, - "end_region_line": 560, - "line": " return 0\n", - "lineno": 551, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 551, - "start_region_line": 549 - }, - { - "end_outermost_loop": 552, - "end_region_line": 560, - "line": " try:\n", - "lineno": 552, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 552, - "start_region_line": 549 - }, - { - "end_outermost_loop": 553, - "end_region_line": 560, - "line": " # Catching DynamixelCommError exception to gracefully handle overload errors without erroring out the main script\n", - "lineno": 553, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 553, - "start_region_line": 549 - }, - { - "end_outermost_loop": 556, - "end_region_line": 560, - "line": " with self.pt_lock:\n", - "lineno": 554, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 554, - "start_region_line": 549 - }, - { - "end_outermost_loop": 556, - "end_region_line": 560, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 555, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 555, - "start_region_line": 549 - }, - { - "end_outermost_loop": 556, - "end_region_line": 560, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_OPERATING_MODE)\n", - "lineno": 556, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 556, - "start_region_line": 549 - }, - { - "end_outermost_loop": 557, - "end_region_line": 560, - "line": " self.handle_comm_result('XL430_ADDR_OPERATING_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 557, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 549 - }, - { - "end_outermost_loop": 558, - "end_region_line": 560, - "line": " except Exception as DynamixelCommError:\n", - "lineno": 558, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 558, - "start_region_line": 549 - }, - { - "end_outermost_loop": 559, - "end_region_line": 560, - "line": " return 0\n", - "lineno": 559, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 559, - "start_region_line": 549 - }, - { - "end_outermost_loop": 560, - "end_region_line": 560, - "line": " return p\n", - "lineno": 560, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 560, - "start_region_line": 549 - }, - { - "end_outermost_loop": 561, - "end_region_line": 1035, - "line": "\n", - "lineno": 561, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 561, - "start_region_line": 137 - }, - { - "end_outermost_loop": 569, - "end_region_line": 569, - "line": " def get_drive_mode(self):\n", - "lineno": 562, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 562, - "start_region_line": 562 - }, - { - "end_outermost_loop": 564, - "end_region_line": 569, - "line": " if not self.hw_valid:\n", - "lineno": 563, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 563, - "start_region_line": 562 - }, - { - "end_outermost_loop": 564, - "end_region_line": 569, - "line": " return 0\n", - "lineno": 564, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 564, - "start_region_line": 562 - }, - { - "end_outermost_loop": 567, - "end_region_line": 569, - "line": " with self.pt_lock:\n", - "lineno": 565, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 562 - }, - { - "end_outermost_loop": 567, - "end_region_line": 569, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 566, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 566, - "start_region_line": 562 - }, - { - "end_outermost_loop": 567, - "end_region_line": 569, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_DRIVE_MODE)\n", - "lineno": 567, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 567, - "start_region_line": 562 - }, - { - "end_outermost_loop": 568, - "end_region_line": 569, - "line": " self.handle_comm_result('XL430_ADDR_DRIVE_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 568, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 568, - "start_region_line": 562 - }, - { - "end_outermost_loop": 569, - "end_region_line": 569, - "line": " return p\n", - "lineno": 569, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 569, - "start_region_line": 562 - }, - { - "end_outermost_loop": 570, - "end_region_line": 1035, - "line": "\n", - "lineno": 570, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 570, - "start_region_line": 137 - }, - { - "end_outermost_loop": 583, - "end_region_line": 583, - "line": " def set_drive_mode(self,vel_based=True, reverse=False):\n", - "lineno": 571, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 571, - "start_region_line": 571 - }, - { - "end_outermost_loop": 573, - "end_region_line": 583, - "line": " if not self.hw_valid:\n", - "lineno": 572, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 572, - "start_region_line": 571 - }, - { - "end_outermost_loop": 573, - "end_region_line": 583, - "line": " return\n", - "lineno": 573, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 573, - "start_region_line": 571 - }, - { - "end_outermost_loop": 583, - "end_region_line": 583, - "line": " #defaults to vel_based, not forward at factory\n", - "lineno": 574, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 571, - "start_region_line": 571 - }, - { - "end_outermost_loop": 575, - "end_region_line": 583, - "line": " x=0\n", - "lineno": 575, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 575, - "start_region_line": 571 - }, - { - "end_outermost_loop": 577, - "end_region_line": 583, - "line": " if not vel_based:\n", - "lineno": 576, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 576, - "start_region_line": 571 - }, - { - "end_outermost_loop": 577, - "end_region_line": 583, - "line": " x=x|0x01\n", - "lineno": 577, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 577, - "start_region_line": 571 - }, - { - "end_outermost_loop": 579, - "end_region_line": 583, - "line": " if reverse:\n", - "lineno": 578, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 578, - "start_region_line": 571 - }, - { - "end_outermost_loop": 579, - "end_region_line": 583, - "line": " x=x|0x4\n", - "lineno": 579, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 579, - "start_region_line": 571 - }, - { - "end_outermost_loop": 582, - "end_region_line": 583, - "line": " with self.pt_lock:\n", - "lineno": 580, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 580, - "start_region_line": 571 - }, - { - "end_outermost_loop": 582, - "end_region_line": 583, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 581, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 581, - "start_region_line": 571 - }, - { - "end_outermost_loop": 582, - "end_region_line": 583, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_DRIVE_MODE, x)\n", - "lineno": 582, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 582, - "start_region_line": 571 - }, - { - "end_outermost_loop": 583, - "end_region_line": 583, - "line": " self.handle_comm_result('XL430_ADDR_DRIVE_MODE', dxl_comm_result, dxl_error)\n", - "lineno": 583, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 583, - "start_region_line": 571 - }, - { - "end_outermost_loop": 584, - "end_region_line": 1035, - "line": "\n", - "lineno": 584, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 584, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " #XM Series\n", - "lineno": 585, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 590, - "end_region_line": 590, - "line": " def set_goal_current(self,i):\n", - "lineno": 586, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 586, - "start_region_line": 586 - }, - { - "end_outermost_loop": 589, - "end_region_line": 590, - "line": " with self.pt_lock:\n", - "lineno": 587, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 587, - "start_region_line": 586 - }, - { - "end_outermost_loop": 589, - "end_region_line": 590, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 588, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 588, - "start_region_line": 586 - }, - { - "end_outermost_loop": 589, - "end_region_line": 590, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XM430_ADDR_GOAL_CURRENT, int(i))\n", - "lineno": 589, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 589, - "start_region_line": 586 - }, - { - "end_outermost_loop": 590, - "end_region_line": 590, - "line": " self.handle_comm_result('XM430_ADDR_GOAL_CURRENT', dxl_comm_result, dxl_error)\n", - "lineno": 590, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 590, - "start_region_line": 586 - }, - { - "end_outermost_loop": 591, - "end_region_line": 1035, - "line": "\n", - "lineno": 591, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 137 - }, - { - "end_outermost_loop": 600, - "end_region_line": 600, - "line": " def get_goal_current(self):\n", - "lineno": 592, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 594, - "end_region_line": 600, - "line": " if not self.hw_valid:\n", - "lineno": 593, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 593, - "start_region_line": 592 - }, - { - "end_outermost_loop": 594, - "end_region_line": 600, - "line": " return 0\n", - "lineno": 594, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 594, - "start_region_line": 592 - }, - { - "end_outermost_loop": 598, - "end_region_line": 600, - "line": " with self.pt_lock:\n", - "lineno": 595, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 595, - "start_region_line": 592 - }, - { - "end_outermost_loop": 598, - "end_region_line": 600, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 596, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 596, - "start_region_line": 592 - }, - { - "end_outermost_loop": 597, - "end_region_line": 600, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id,\n", - "lineno": 597, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 597, - "start_region_line": 592 - }, - { - "end_outermost_loop": 598, - "end_region_line": 600, - "line": " XM430_ADDR_GOAL_CURRENT)\n", - "lineno": 598, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 600, - "line": " self.handle_comm_result('XM430_ADDR_GOAL_CURRENT', dxl_comm_result, dxl_error)\n", - "lineno": 599, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 599, - "start_region_line": 592 - }, - { - "end_outermost_loop": 600, - "end_region_line": 600, - "line": " return p\n", - "lineno": 600, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 600, - "start_region_line": 592 - }, - { - "end_outermost_loop": 601, - "end_region_line": 1035, - "line": "\n", - "lineno": 601, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 601, - "start_region_line": 137 - }, - { - "end_outermost_loop": 608, - "end_region_line": 608, - "line": " def go_to_pos(self,x):\n", - "lineno": 602, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 602, - "start_region_line": 602 - }, - { - "end_outermost_loop": 604, - "end_region_line": 608, - "line": " if not self.hw_valid:\n", - "lineno": 603, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 603, - "start_region_line": 602 - }, - { - "end_outermost_loop": 604, - "end_region_line": 608, - "line": " return\n", - "lineno": 604, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 604, - "start_region_line": 602 - }, - { - "end_outermost_loop": 607, - "end_region_line": 608, - "line": " with self.pt_lock:\n", - "lineno": 605, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 605, - "start_region_line": 602 - }, - { - "end_outermost_loop": 607, - "end_region_line": 608, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 606, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 606, - "start_region_line": 602 - }, - { - "end_outermost_loop": 607, - "end_region_line": 608, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_GOAL_POSITION, int(x))\n", - "lineno": 607, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 607, - "start_region_line": 602 - }, - { - "end_outermost_loop": 608, - "end_region_line": 608, - "line": " self.handle_comm_result('XL430_ADDR_GOAL_POSITION', dxl_comm_result, dxl_error)\n", - "lineno": 608, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 608, - "start_region_line": 602 - }, - { - "end_outermost_loop": 609, - "end_region_line": 1035, - "line": "\n", - "lineno": 609, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 609, - "start_region_line": 137 - }, - { - "end_outermost_loop": 615, - "end_region_line": 615, - "line": " def set_vel(self, x):\n", - "lineno": 610, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 610, - "start_region_line": 610 - }, - { - "end_outermost_loop": 614, - "end_region_line": 615, - "line": " with self.pt_lock:\n", - "lineno": 611, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 611, - "start_region_line": 610 - }, - { - "end_outermost_loop": 614, - "end_region_line": 615, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 612, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 612, - "start_region_line": 610 - }, - { - "end_outermost_loop": 613, - "end_region_line": 615, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id,\n", - "lineno": 613, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 613, - "start_region_line": 610 - }, - { - "end_outermost_loop": 614, - "end_region_line": 615, - "line": " XL430_ADDR_GOAL_VEL, int(x))\n", - "lineno": 614, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 614, - "start_region_line": 610 - }, - { - "end_outermost_loop": 615, - "end_region_line": 615, - "line": " self.handle_comm_result('XL430_ADDR_GOAL_VEL', dxl_comm_result, dxl_error)\n", - "lineno": 615, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 615, - "start_region_line": 610 - }, - { - "end_outermost_loop": 616, - "end_region_line": 1035, - "line": "\n", - "lineno": 616, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 616, - "start_region_line": 137 - }, - { - "end_outermost_loop": 635, - "end_region_line": 635, - "line": " def enable_watchdog(self, timeout_20msec=50):\n", - "lineno": 617, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 617, - "start_region_line": 617 - }, - { - "end_outermost_loop": 618, - "end_region_line": 635, - "line": " \"\"\"Enables bus monitoring to stop safely if communications fails.\n", - "lineno": 618, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 618, - "start_region_line": 617 - }, - { - "end_outermost_loop": 619, - "end_region_line": 635, - "line": "\n", - "lineno": 619, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 619, - "start_region_line": 617 - }, - { - "end_outermost_loop": 620, - "end_region_line": 635, - "line": " In any operating mode, a watchdog may be enabled on the Dynamixel\n", - "lineno": 620, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 620, - "start_region_line": 617 - }, - { - "end_outermost_loop": 621, - "end_region_line": 635, - "line": " hardware. If bus communication ceases for longer than a specified\n", - "lineno": 621, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 621, - "start_region_line": 617 - }, - { - "end_outermost_loop": 622, - "end_region_line": 635, - "line": " timeout, the hardware enters watchdog error mode. New commands will\n", - "lineno": 622, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 622, - "start_region_line": 617 - }, - { - "end_outermost_loop": 623, - "end_region_line": 635, - "line": " not execute until watchdog is disabled. Watchdog can be used with\n", - "lineno": 623, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 617 - }, - { - "end_outermost_loop": 624, - "end_region_line": 635, - "line": " velocity control to prevent undesired behavior in case of software\n", - "lineno": 624, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 624, - "start_region_line": 617 - }, - { - "end_outermost_loop": 625, - "end_region_line": 635, - "line": " failure.\n", - "lineno": 625, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 625, - "start_region_line": 617 - }, - { - "end_outermost_loop": 626, - "end_region_line": 635, - "line": "\n", - "lineno": 626, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 626, - "start_region_line": 617 - }, - { - "end_outermost_loop": 627, - "end_region_line": 635, - "line": " Parameters\n", - "lineno": 627, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 627, - "start_region_line": 617 - }, - { - "end_outermost_loop": 628, - "end_region_line": 635, - "line": " ----------\n", - "lineno": 628, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 628, - "start_region_line": 617 - }, - { - "end_outermost_loop": 629, - "end_region_line": 635, - "line": " timeout_20msec : int\n", - "lineno": 629, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 629, - "start_region_line": 617 - }, - { - "end_outermost_loop": 630, - "end_region_line": 635, - "line": " value in range [1, 127] calculates timeout as value * 20 milliseconds (default 1s)\n", - "lineno": 630, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 630, - "start_region_line": 617 - }, - { - "end_outermost_loop": 631, - "end_region_line": 635, - "line": " \"\"\"\n", - "lineno": 631, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 631, - "start_region_line": 617 - }, - { - "end_outermost_loop": 634, - "end_region_line": 635, - "line": " with self.pt_lock:\n", - "lineno": 632, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 632, - "start_region_line": 617 - }, - { - "end_outermost_loop": 634, - "end_region_line": 635, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 633, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 633, - "start_region_line": 617 - }, - { - "end_outermost_loop": 634, - "end_region_line": 635, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BUS_WATCHDOG, timeout_20msec)\n", - "lineno": 634, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 634, - "start_region_line": 617 - }, - { - "end_outermost_loop": 635, - "end_region_line": 635, - "line": " self.handle_comm_result('XL430_ADDR_BUS_WATCHDOG', dxl_comm_result, dxl_error)\n", - "lineno": 635, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 635, - "start_region_line": 617 - }, - { - "end_outermost_loop": 636, - "end_region_line": 1035, - "line": "\n", - "lineno": 636, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 636, - "start_region_line": 137 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " def disable_watchdog(self):\n", - "lineno": 637, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 637, - "start_region_line": 637 - }, - { - "end_outermost_loop": 638, - "end_region_line": 646, - "line": " \"\"\"Disables watchdog bus monitoring.\n", - "lineno": 638, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 638, - "start_region_line": 637 - }, - { - "end_outermost_loop": 639, - "end_region_line": 646, - "line": "\n", - "lineno": 639, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 639, - "start_region_line": 637 - }, - { - "end_outermost_loop": 640, - "end_region_line": 646, - "line": " In case of watchdog error occurred, no new goal commands will execute\n", - "lineno": 640, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 640, - "start_region_line": 637 - }, - { - "end_outermost_loop": 641, - "end_region_line": 646, - "line": " until watchdog disabled with this function.\n", - "lineno": 641, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 641, - "start_region_line": 637 - }, - { - "end_outermost_loop": 642, - "end_region_line": 646, - "line": " \"\"\"\n", - "lineno": 642, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 637 - }, - { - "end_outermost_loop": 645, - "end_region_line": 646, - "line": " with self.pt_lock:\n", - "lineno": 643, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 643, - "start_region_line": 637 - }, - { - "end_outermost_loop": 645, - "end_region_line": 646, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 644, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 644, - "start_region_line": 637 - }, - { - "end_outermost_loop": 645, - "end_region_line": 646, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BUS_WATCHDOG, 0)\n", - "lineno": 645, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 645, - "start_region_line": 637 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " self.handle_comm_result('XL430_ADDR_BUS_WATCHDOG', dxl_comm_result, dxl_error)\n", - "lineno": 646, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 646, - "start_region_line": 637 - }, - { - "end_outermost_loop": 647, - "end_region_line": 1035, - "line": "\n", - "lineno": 647, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 647, - "start_region_line": 137 - }, - { - "end_outermost_loop": 660, - "end_region_line": 660, - "line": " def get_watchdog_error(self):\n", - "lineno": 648, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 648, - "start_region_line": 648 - }, - { - "end_outermost_loop": 649, - "end_region_line": 660, - "line": " \"\"\"Checks if watchdog error occurred.\n", - "lineno": 649, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 649, - "start_region_line": 648 - }, - { - "end_outermost_loop": 650, - "end_region_line": 660, - "line": "\n", - "lineno": 650, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 650, - "start_region_line": 648 - }, - { - "end_outermost_loop": 651, - "end_region_line": 660, - "line": " Returns\n", - "lineno": 651, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 651, - "start_region_line": 648 - }, - { - "end_outermost_loop": 652, - "end_region_line": 660, - "line": " -------\n", - "lineno": 652, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 652, - "start_region_line": 648 - }, - { - "end_outermost_loop": 653, - "end_region_line": 660, - "line": " bool\n", - "lineno": 653, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 653, - "start_region_line": 648 - }, - { - "end_outermost_loop": 654, - "end_region_line": 660, - "line": " True if watchdog detected no communication for longer than watchdog timeout\n", - "lineno": 654, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 654, - "start_region_line": 648 - }, - { - "end_outermost_loop": 655, - "end_region_line": 660, - "line": " \"\"\"\n", - "lineno": 655, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 655, - "start_region_line": 648 - }, - { - "end_outermost_loop": 658, - "end_region_line": 660, - "line": " with self.pt_lock:\n", - "lineno": 656, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 656, - "start_region_line": 648 - }, - { - "end_outermost_loop": 658, - "end_region_line": 660, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 657, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 657, - "start_region_line": 648 - }, - { - "end_outermost_loop": 658, - "end_region_line": 660, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_BUS_WATCHDOG)\n", - "lineno": 658, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 658, - "start_region_line": 648 - }, - { - "end_outermost_loop": 659, - "end_region_line": 660, - "line": " self.handle_comm_result('XL430_ADDR_BUS_WATCHDOG', dxl_comm_result, dxl_error)\n", - "lineno": 659, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 659, - "start_region_line": 648 - }, - { - "end_outermost_loop": 660, - "end_region_line": 660, - "line": " return p == 255\n", - "lineno": 660, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 660, - "start_region_line": 648 - }, - { - "end_outermost_loop": 661, - "end_region_line": 1035, - "line": "\n", - "lineno": 661, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 661, - "start_region_line": 137 - }, - { - "end_outermost_loop": 669, - "end_region_line": 669, - "line": " def get_current(self):\n", - "lineno": 662, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 662, - "start_region_line": 662 - }, - { - "end_outermost_loop": 664, - "end_region_line": 669, - "line": " if not self.hw_valid:\n", - "lineno": 663, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 663, - "start_region_line": 662 - }, - { - "end_outermost_loop": 664, - "end_region_line": 669, - "line": " return 0\n", - "lineno": 664, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 664, - "start_region_line": 662 - }, - { - "end_outermost_loop": 667, - "end_region_line": 669, - "line": " with self.pt_lock:\n", - "lineno": 665, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 665, - "start_region_line": 662 - }, - { - "end_outermost_loop": 667, - "end_region_line": 669, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 666, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 666, - "start_region_line": 662 - }, - { - "end_outermost_loop": 667, - "end_region_line": 669, - "line": " xn, dxl_comm_result, dxl_error= self.read_int16_t(XM430_ADDR_PRESENT_CURRENT)\n", - "lineno": 667, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 667, - "start_region_line": 662 - }, - { - "end_outermost_loop": 668, - "end_region_line": 669, - "line": " self.handle_comm_result('XM430_ADDR_PRESENT_CURRENT', dxl_comm_result, dxl_error)\n", - "lineno": 668, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 668, - "start_region_line": 662 - }, - { - "end_outermost_loop": 669, - "end_region_line": 669, - "line": " return xn\n", - "lineno": 669, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 669, - "start_region_line": 662 - }, - { - "end_outermost_loop": 670, - "end_region_line": 1035, - "line": "\n", - "lineno": 670, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 670, - "start_region_line": 137 - }, - { - "end_outermost_loop": 678, - "end_region_line": 678, - "line": " def get_pos(self):\n", - "lineno": 671, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 671, - "start_region_line": 671 - }, - { - "end_outermost_loop": 673, - "end_region_line": 678, - "line": " if not self.hw_valid:\n", - "lineno": 672, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 672, - "start_region_line": 671 - }, - { - "end_outermost_loop": 673, - "end_region_line": 678, - "line": " return 0\n", - "lineno": 673, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 673, - "start_region_line": 671 - }, - { - "end_outermost_loop": 676, - "end_region_line": 678, - "line": " with self.pt_lock:\n", - "lineno": 674, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 674, - "start_region_line": 671 - }, - { - "end_outermost_loop": 676, - "end_region_line": 678, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 675, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 675, - "start_region_line": 671 - }, - { - "end_outermost_loop": 676, - "end_region_line": 678, - "line": " xn, dxl_comm_result, dxl_error= self.read_int32_t(XL430_ADDR_PRESENT_POSITION)\n", - "lineno": 676, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 676, - "start_region_line": 671 - }, - { - "end_outermost_loop": 677, - "end_region_line": 678, - "line": " self.handle_comm_result('XL430_ADDR_PRESENT_POSITION', dxl_comm_result, dxl_error)\n", - "lineno": 677, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 677, - "start_region_line": 671 - }, - { - "end_outermost_loop": 678, - "end_region_line": 678, - "line": " return xn\n", - "lineno": 678, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 678, - "start_region_line": 671 - }, - { - "end_outermost_loop": 679, - "end_region_line": 1035, - "line": "\n", - "lineno": 679, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 679, - "start_region_line": 137 - }, - { - "end_outermost_loop": 687, - "end_region_line": 687, - "line": " def get_moving_status(self):\n", - "lineno": 680, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 680, - "start_region_line": 680 - }, - { - "end_outermost_loop": 682, - "end_region_line": 687, - "line": " if not self.hw_valid:\n", - "lineno": 681, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 681, - "start_region_line": 680 - }, - { - "end_outermost_loop": 682, - "end_region_line": 687, - "line": " return\n", - "lineno": 682, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 682, - "start_region_line": 680 - }, - { - "end_outermost_loop": 685, - "end_region_line": 687, - "line": " with self.pt_lock:\n", - "lineno": 683, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 683, - "start_region_line": 680 - }, - { - "end_outermost_loop": 685, - "end_region_line": 687, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 684, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 684, - "start_region_line": 680 - }, - { - "end_outermost_loop": 685, - "end_region_line": 687, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MOVING_STATUS)\n", - "lineno": 685, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 685, - "start_region_line": 680 - }, - { - "end_outermost_loop": 686, - "end_region_line": 687, - "line": " self.handle_comm_result('XL430_ADDR_MOVING_STATUS', dxl_comm_result, dxl_error)\n", - "lineno": 686, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 686, - "start_region_line": 680 - }, - { - "end_outermost_loop": 687, - "end_region_line": 687, - "line": " return p\n", - "lineno": 687, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 687, - "start_region_line": 680 - }, - { - "end_outermost_loop": 688, - "end_region_line": 1035, - "line": "\n", - "lineno": 688, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 688, - "start_region_line": 137 - }, - { - "end_outermost_loop": 696, - "end_region_line": 696, - "line": " def get_load(self):\n", - "lineno": 689, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 689, - "start_region_line": 689 - }, - { - "end_outermost_loop": 691, - "end_region_line": 696, - "line": " if not self.hw_valid:\n", - "lineno": 690, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 690, - "start_region_line": 689 - }, - { - "end_outermost_loop": 691, - "end_region_line": 696, - "line": " return 0\n", - "lineno": 691, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 691, - "start_region_line": 689 - }, - { - "end_outermost_loop": 694, - "end_region_line": 696, - "line": " with self.pt_lock:\n", - "lineno": 692, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 692, - "start_region_line": 689 - }, - { - "end_outermost_loop": 694, - "end_region_line": 696, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 693, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 693, - "start_region_line": 689 - }, - { - "end_outermost_loop": 694, - "end_region_line": 696, - "line": " xn, dxl_comm_result, dxl_error= self.read_int16_t(XL430_ADDR_PRESENT_LOAD)\n", - "lineno": 694, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 694, - "start_region_line": 689 - }, - { - "end_outermost_loop": 695, - "end_region_line": 696, - "line": " self.handle_comm_result('XL430_ADDR_PRESENT_LOAD', dxl_comm_result, dxl_error)\n", - "lineno": 695, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 695, - "start_region_line": 689 - }, - { - "end_outermost_loop": 696, - "end_region_line": 696, - "line": " return xn\n", - "lineno": 696, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 696, - "start_region_line": 689 - }, - { - "end_outermost_loop": 697, - "end_region_line": 1035, - "line": "\n", - "lineno": 697, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 697, - "start_region_line": 137 - }, - { - "end_outermost_loop": 705, - "end_region_line": 705, - "line": " def get_pwm(self):\n", - "lineno": 698, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 698, - "start_region_line": 698 - }, - { - "end_outermost_loop": 700, - "end_region_line": 705, - "line": " if not self.hw_valid:\n", - "lineno": 699, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 699, - "start_region_line": 698 - }, - { - "end_outermost_loop": 700, - "end_region_line": 705, - "line": " return 0\n", - "lineno": 700, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 700, - "start_region_line": 698 - }, - { - "end_outermost_loop": 703, - "end_region_line": 705, - "line": " with self.pt_lock:\n", - "lineno": 701, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 701, - "start_region_line": 698 - }, - { - "end_outermost_loop": 703, - "end_region_line": 705, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 702, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 702, - "start_region_line": 698 - }, - { - "end_outermost_loop": 703, - "end_region_line": 705, - "line": " xn, dxl_comm_result, dxl_error= self.read_int16_t(XL430_ADDR_PRESENT_PWM)\n", - "lineno": 703, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 703, - "start_region_line": 698 - }, - { - "end_outermost_loop": 704, - "end_region_line": 705, - "line": " self.handle_comm_result('XL430_ADDR_PRESENT_PWM', dxl_comm_result, dxl_error)\n", - "lineno": 704, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 704, - "start_region_line": 698 - }, - { - "end_outermost_loop": 705, - "end_region_line": 705, - "line": " return xn\n", - "lineno": 705, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 705, - "start_region_line": 698 - }, - { - "end_outermost_loop": 706, - "end_region_line": 1035, - "line": "\n", - "lineno": 706, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 706, - "start_region_line": 137 - }, - { - "end_outermost_loop": 717, - "end_region_line": 717, - "line": " def set_profile_velocity(self,v):\n", - "lineno": 707, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 707, - "start_region_line": 707 - }, - { - "end_outermost_loop": 709, - "end_region_line": 717, - "line": " if not self.hw_valid:\n", - "lineno": 708, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 708, - "start_region_line": 707 - }, - { - "end_outermost_loop": 709, - "end_region_line": 717, - "line": " return\n", - "lineno": 709, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 709, - "start_region_line": 707 - }, - { - "end_outermost_loop": 713, - "end_region_line": 717, - "line": " if abs(v)\\u003c1:\n", - "lineno": 710, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 710, - "start_region_line": 707 - }, - { - "end_outermost_loop": 713, - "end_region_line": 717, - "line": " # Dxls assumes Zero ticks/s as infinite/max velocity which is counterintutive\n", - "lineno": 711, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 710, - "start_region_line": 707 - }, - { - "end_outermost_loop": 713, - "end_region_line": 717, - "line": " # Therefore setting a zero will assign to the lowest possible velocity 1 ticks/s\n", - "lineno": 712, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 710, - "start_region_line": 707 - }, - { - "end_outermost_loop": 713, - "end_region_line": 717, - "line": " v = 1\n", - "lineno": 713, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 713, - "start_region_line": 707 - }, - { - "end_outermost_loop": 716, - "end_region_line": 717, - "line": " with self.pt_lock:\n", - "lineno": 714, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 714, - "start_region_line": 707 - }, - { - "end_outermost_loop": 716, - "end_region_line": 717, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 715, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 715, - "start_region_line": 707 - }, - { - "end_outermost_loop": 716, - "end_region_line": 717, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PROFILE_VELOCITY, int(v))\n", - "lineno": 716, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 716, - "start_region_line": 707 - }, - { - "end_outermost_loop": 717, - "end_region_line": 717, - "line": " self.handle_comm_result('XL430_ADDR_PROFILE_VELOCITY', dxl_comm_result, dxl_error)\n", - "lineno": 717, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 717, - "start_region_line": 707 - }, - { - "end_outermost_loop": 718, - "end_region_line": 1035, - "line": "\n", - "lineno": 718, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 718, - "start_region_line": 137 - }, - { - "end_outermost_loop": 729, - "end_region_line": 729, - "line": " def set_profile_acceleration(self, a):\n", - "lineno": 719, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 719, - "start_region_line": 719 - }, - { - "end_outermost_loop": 721, - "end_region_line": 729, - "line": " if not self.hw_valid:\n", - "lineno": 720, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 720, - "start_region_line": 719 - }, - { - "end_outermost_loop": 721, - "end_region_line": 729, - "line": " return\n", - "lineno": 721, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 721, - "start_region_line": 719 - }, - { - "end_outermost_loop": 725, - "end_region_line": 729, - "line": " if abs(a)\\u003c1:\n", - "lineno": 722, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 722, - "start_region_line": 719 - }, - { - "end_outermost_loop": 725, - "end_region_line": 729, - "line": " # Dxls assumes Zero ticks/s^2 as infinite/max acceleration which is counterintutive\n", - "lineno": 723, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 722, - "start_region_line": 719 - }, - { - "end_outermost_loop": 725, - "end_region_line": 729, - "line": " # Therefore setting a zero will assign to the lowest possible acceleration 1 ticks/s^2\n", - "lineno": 724, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 722, - "start_region_line": 719 - }, - { - "end_outermost_loop": 725, - "end_region_line": 729, - "line": " a = 1\n", - "lineno": 725, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 725, - "start_region_line": 719 - }, - { - "end_outermost_loop": 728, - "end_region_line": 729, - "line": " with self.pt_lock:\n", - "lineno": 726, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 726, - "start_region_line": 719 - }, - { - "end_outermost_loop": 728, - "end_region_line": 729, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 727, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 727, - "start_region_line": 719 - }, - { - "end_outermost_loop": 728, - "end_region_line": 729, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id,XL430_ADDR_PROFILE_ACCELERATION, int(a))\n", - "lineno": 728, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 728, - "start_region_line": 719 - }, - { - "end_outermost_loop": 729, - "end_region_line": 729, - "line": " self.handle_comm_result('XL430_ADDR_PROFILE_ACCELERATION', dxl_comm_result, dxl_error)\n", - "lineno": 729, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 729, - "start_region_line": 719 - }, - { - "end_outermost_loop": 730, - "end_region_line": 1035, - "line": "\n", - "lineno": 730, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 730, - "start_region_line": 137 - }, - { - "end_outermost_loop": 731, - "end_region_line": 1035, - "line": "\n", - "lineno": 731, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 731, - "start_region_line": 137 - }, - { - "end_outermost_loop": 739, - "end_region_line": 739, - "line": " def get_profile_velocity(self):\n", - "lineno": 732, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 732, - "start_region_line": 732 - }, - { - "end_outermost_loop": 734, - "end_region_line": 739, - "line": " if not self.hw_valid:\n", - "lineno": 733, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 733, - "start_region_line": 732 - }, - { - "end_outermost_loop": 734, - "end_region_line": 739, - "line": " return 0\n", - "lineno": 734, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 734, - "start_region_line": 732 - }, - { - "end_outermost_loop": 737, - "end_region_line": 739, - "line": " with self.pt_lock:\n", - "lineno": 735, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 735, - "start_region_line": 732 - }, - { - "end_outermost_loop": 737, - "end_region_line": 739, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 736, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 736, - "start_region_line": 732 - }, - { - "end_outermost_loop": 737, - "end_region_line": 739, - "line": " v, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PROFILE_VELOCITY)\n", - "lineno": 737, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 737, - "start_region_line": 732 - }, - { - "end_outermost_loop": 738, - "end_region_line": 739, - "line": " self.handle_comm_result('XL430_ADDR_PROFILE_VELOCITY', dxl_comm_result, dxl_error)\n", - "lineno": 738, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 738, - "start_region_line": 732 - }, - { - "end_outermost_loop": 739, - "end_region_line": 739, - "line": " return v\n", - "lineno": 739, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 739, - "start_region_line": 732 - }, - { - "end_outermost_loop": 740, - "end_region_line": 1035, - "line": "\n", - "lineno": 740, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 740, - "start_region_line": 137 - }, - { - "end_outermost_loop": 748, - "end_region_line": 748, - "line": " def get_profile_acceleration(self):\n", - "lineno": 741, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 741, - "start_region_line": 741 - }, - { - "end_outermost_loop": 743, - "end_region_line": 748, - "line": " if not self.hw_valid:\n", - "lineno": 742, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 742, - "start_region_line": 741 - }, - { - "end_outermost_loop": 743, - "end_region_line": 748, - "line": " return 0\n", - "lineno": 743, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 743, - "start_region_line": 741 - }, - { - "end_outermost_loop": 746, - "end_region_line": 748, - "line": " with self.pt_lock:\n", - "lineno": 744, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 744, - "start_region_line": 741 - }, - { - "end_outermost_loop": 746, - "end_region_line": 748, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 745, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 745, - "start_region_line": 741 - }, - { - "end_outermost_loop": 746, - "end_region_line": 748, - "line": " a, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PROFILE_ACCELERATION)\n", - "lineno": 746, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 746, - "start_region_line": 741 - }, - { - "end_outermost_loop": 747, - "end_region_line": 748, - "line": " self.handle_comm_result('XL430_ADDR_PROFILE_ACCELERATION', dxl_comm_result, dxl_error)\n", - "lineno": 747, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 747, - "start_region_line": 741 - }, - { - "end_outermost_loop": 748, - "end_region_line": 748, - "line": " return a\n", - "lineno": 748, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 748, - "start_region_line": 741 - }, - { - "end_outermost_loop": 749, - "end_region_line": 1035, - "line": "\n", - "lineno": 749, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 749, - "start_region_line": 137 - }, - { - "end_outermost_loop": 759, - "end_region_line": 759, - "line": " def get_vel(self):\n", - "lineno": 750, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 750, - "start_region_line": 750 - }, - { - "end_outermost_loop": 752, - "end_region_line": 759, - "line": " if not self.hw_valid:\n", - "lineno": 751, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 751, - "start_region_line": 750 - }, - { - "end_outermost_loop": 752, - "end_region_line": 759, - "line": " return 0\n", - "lineno": 752, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 752, - "start_region_line": 750 - }, - { - "end_outermost_loop": 755, - "end_region_line": 759, - "line": " with self.pt_lock:\n", - "lineno": 753, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 753, - "start_region_line": 750 - }, - { - "end_outermost_loop": 755, - "end_region_line": 759, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 754, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 754, - "start_region_line": 750 - }, - { - "end_outermost_loop": 755, - "end_region_line": 759, - "line": " v, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PRESENT_VELOCITY)\n", - "lineno": 755, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 755, - "start_region_line": 750 - }, - { - "end_outermost_loop": 756, - "end_region_line": 759, - "line": " self.handle_comm_result('XL430_ADDR_PRESENT_VELOCITY', dxl_comm_result, dxl_error)\n", - "lineno": 756, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 756, - "start_region_line": 750 - }, - { - "end_outermost_loop": 758, - "end_region_line": 759, - "line": " if v \\u003e 2 ** 24:\n", - "lineno": 757, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 757, - "start_region_line": 750 - }, - { - "end_outermost_loop": 758, - "end_region_line": 759, - "line": " v = v - 2 ** 32\n", - "lineno": 758, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 758, - "start_region_line": 750 - }, - { - "end_outermost_loop": 759, - "end_region_line": 759, - "line": " return v\n", - "lineno": 759, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 759, - "start_region_line": 750 - }, - { - "end_outermost_loop": 760, - "end_region_line": 1035, - "line": "\n", - "lineno": 760, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 760, - "start_region_line": 137 - }, - { - "end_outermost_loop": 768, - "end_region_line": 768, - "line": " def get_P_gain(self):\n", - "lineno": 761, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 761, - "start_region_line": 761 - }, - { - "end_outermost_loop": 763, - "end_region_line": 768, - "line": " if not self.hw_valid:\n", - "lineno": 762, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 762, - "start_region_line": 761 - }, - { - "end_outermost_loop": 763, - "end_region_line": 768, - "line": " return 0\n", - "lineno": 763, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 763, - "start_region_line": 761 - }, - { - "end_outermost_loop": 766, - "end_region_line": 768, - "line": " with self.pt_lock:\n", - "lineno": 764, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 764, - "start_region_line": 761 - }, - { - "end_outermost_loop": 766, - "end_region_line": 768, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 765, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 765, - "start_region_line": 761 - }, - { - "end_outermost_loop": 766, - "end_region_line": 768, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_P_GAIN)\n", - "lineno": 766, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 766, - "start_region_line": 761 - }, - { - "end_outermost_loop": 767, - "end_region_line": 768, - "line": " self.handle_comm_result('XL430_ADDR_POS_P_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 767, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 767, - "start_region_line": 761 - }, - { - "end_outermost_loop": 768, - "end_region_line": 768, - "line": " return p\n", - "lineno": 768, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 768, - "start_region_line": 761 - }, - { - "end_outermost_loop": 769, - "end_region_line": 1035, - "line": "\n", - "lineno": 769, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 769, - "start_region_line": 137 - }, - { - "end_outermost_loop": 776, - "end_region_line": 776, - "line": " def set_P_gain(self,x):\n", - "lineno": 770, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 770, - "start_region_line": 770 - }, - { - "end_outermost_loop": 772, - "end_region_line": 776, - "line": " if not self.hw_valid:\n", - "lineno": 771, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 771, - "start_region_line": 770 - }, - { - "end_outermost_loop": 772, - "end_region_line": 776, - "line": " return\n", - "lineno": 772, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 772, - "start_region_line": 770 - }, - { - "end_outermost_loop": 775, - "end_region_line": 776, - "line": " with self.pt_lock:\n", - "lineno": 773, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 773, - "start_region_line": 770 - }, - { - "end_outermost_loop": 775, - "end_region_line": 776, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 774, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 774, - "start_region_line": 770 - }, - { - "end_outermost_loop": 775, - "end_region_line": 776, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_P_GAIN, int(x))\n", - "lineno": 775, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 775, - "start_region_line": 770 - }, - { - "end_outermost_loop": 776, - "end_region_line": 776, - "line": " self.handle_comm_result('XL430_ADDR_POS_P_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 776, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 776, - "start_region_line": 770 - }, - { - "end_outermost_loop": 777, - "end_region_line": 1035, - "line": "\n", - "lineno": 777, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 777, - "start_region_line": 137 - }, - { - "end_outermost_loop": 785, - "end_region_line": 785, - "line": " def get_D_gain(self):\n", - "lineno": 778, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 778, - "start_region_line": 778 - }, - { - "end_outermost_loop": 780, - "end_region_line": 785, - "line": " if not self.hw_valid:\n", - "lineno": 779, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 779, - "start_region_line": 778 - }, - { - "end_outermost_loop": 780, - "end_region_line": 785, - "line": " return 0\n", - "lineno": 780, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 780, - "start_region_line": 778 - }, - { - "end_outermost_loop": 783, - "end_region_line": 785, - "line": " with self.pt_lock:\n", - "lineno": 781, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 781, - "start_region_line": 778 - }, - { - "end_outermost_loop": 783, - "end_region_line": 785, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 782, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 782, - "start_region_line": 778 - }, - { - "end_outermost_loop": 783, - "end_region_line": 785, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_D_GAIN)\n", - "lineno": 783, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 783, - "start_region_line": 778 - }, - { - "end_outermost_loop": 784, - "end_region_line": 785, - "line": " self.handle_comm_result('XL430_ADDR_POS_D_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 784, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 784, - "start_region_line": 778 - }, - { - "end_outermost_loop": 785, - "end_region_line": 785, - "line": " return p\n", - "lineno": 785, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 785, - "start_region_line": 778 - }, - { - "end_outermost_loop": 786, - "end_region_line": 1035, - "line": "\n", - "lineno": 786, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 786, - "start_region_line": 137 - }, - { - "end_outermost_loop": 793, - "end_region_line": 793, - "line": " def set_D_gain(self,x):\n", - "lineno": 787, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 787, - "start_region_line": 787 - }, - { - "end_outermost_loop": 789, - "end_region_line": 793, - "line": " if not self.hw_valid:\n", - "lineno": 788, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 788, - "start_region_line": 787 - }, - { - "end_outermost_loop": 789, - "end_region_line": 793, - "line": " return\n", - "lineno": 789, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 789, - "start_region_line": 787 - }, - { - "end_outermost_loop": 792, - "end_region_line": 793, - "line": " with self.pt_lock:\n", - "lineno": 790, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 790, - "start_region_line": 787 - }, - { - "end_outermost_loop": 792, - "end_region_line": 793, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 791, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 791, - "start_region_line": 787 - }, - { - "end_outermost_loop": 792, - "end_region_line": 793, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_D_GAIN, int(x))\n", - "lineno": 792, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 792, - "start_region_line": 787 - }, - { - "end_outermost_loop": 793, - "end_region_line": 793, - "line": " self.handle_comm_result('XL430_ADDR_POS_D_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 793, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 793, - "start_region_line": 787 - }, - { - "end_outermost_loop": 794, - "end_region_line": 1035, - "line": "\n", - "lineno": 794, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 794, - "start_region_line": 137 - }, - { - "end_outermost_loop": 802, - "end_region_line": 802, - "line": " def get_I_gain(self):\n", - "lineno": 795, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 795, - "start_region_line": 795 - }, - { - "end_outermost_loop": 797, - "end_region_line": 802, - "line": " if not self.hw_valid:\n", - "lineno": 796, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 796, - "start_region_line": 795 - }, - { - "end_outermost_loop": 797, - "end_region_line": 802, - "line": " return 0\n", - "lineno": 797, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 797, - "start_region_line": 795 - }, - { - "end_outermost_loop": 800, - "end_region_line": 802, - "line": " with self.pt_lock:\n", - "lineno": 798, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 798, - "start_region_line": 795 - }, - { - "end_outermost_loop": 800, - "end_region_line": 802, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 799, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 799, - "start_region_line": 795 - }, - { - "end_outermost_loop": 800, - "end_region_line": 802, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_I_GAIN)\n", - "lineno": 800, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 800, - "start_region_line": 795 - }, - { - "end_outermost_loop": 801, - "end_region_line": 802, - "line": " self.handle_comm_result('XL430_ADDR_POS_I_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 801, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 801, - "start_region_line": 795 - }, - { - "end_outermost_loop": 802, - "end_region_line": 802, - "line": " return p\n", - "lineno": 802, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 802, - "start_region_line": 795 - }, - { - "end_outermost_loop": 803, - "end_region_line": 1035, - "line": "\n", - "lineno": 803, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 803, - "start_region_line": 137 - }, - { - "end_outermost_loop": 810, - "end_region_line": 810, - "line": " def set_I_gain(self,x):\n", - "lineno": 804, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 804, - "start_region_line": 804 - }, - { - "end_outermost_loop": 806, - "end_region_line": 810, - "line": " if not self.hw_valid:\n", - "lineno": 805, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 805, - "start_region_line": 804 - }, - { - "end_outermost_loop": 806, - "end_region_line": 810, - "line": " return\n", - "lineno": 806, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 806, - "start_region_line": 804 - }, - { - "end_outermost_loop": 809, - "end_region_line": 810, - "line": " with self.pt_lock:\n", - "lineno": 807, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 807, - "start_region_line": 804 - }, - { - "end_outermost_loop": 809, - "end_region_line": 810, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 808, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 808, - "start_region_line": 804 - }, - { - "end_outermost_loop": 809, - "end_region_line": 810, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_POS_I_GAIN, int(x))\n", - "lineno": 809, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 27.287861693500293, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 809, - "start_region_line": 804 - }, - { - "end_outermost_loop": 810, - "end_region_line": 810, - "line": " self.handle_comm_result('XL430_ADDR_POS_I_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 810, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 810, - "start_region_line": 804 - }, - { - "end_outermost_loop": 811, - "end_region_line": 1035, - "line": "\n", - "lineno": 811, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 811, - "start_region_line": 137 - }, - { - "end_outermost_loop": 819, - "end_region_line": 819, - "line": " def get_vel_I_gain(self):\n", - "lineno": 812, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 812, - "start_region_line": 812 - }, - { - "end_outermost_loop": 814, - "end_region_line": 819, - "line": " if not self.hw_valid:\n", - "lineno": 813, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 813, - "start_region_line": 812 - }, - { - "end_outermost_loop": 814, - "end_region_line": 819, - "line": " return 0\n", - "lineno": 814, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 814, - "start_region_line": 812 - }, - { - "end_outermost_loop": 817, - "end_region_line": 819, - "line": " with self.pt_lock:\n", - "lineno": 815, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 815, - "start_region_line": 812 - }, - { - "end_outermost_loop": 817, - "end_region_line": 819, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 816, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 816, - "start_region_line": 812 - }, - { - "end_outermost_loop": 817, - "end_region_line": 819, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_I_GAIN)\n", - "lineno": 817, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 817, - "start_region_line": 812 - }, - { - "end_outermost_loop": 818, - "end_region_line": 819, - "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_I_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 818, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 818, - "start_region_line": 812 - }, - { - "end_outermost_loop": 819, - "end_region_line": 819, - "line": " return p\n", - "lineno": 819, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 819, - "start_region_line": 812 - }, - { - "end_outermost_loop": 820, - "end_region_line": 1035, - "line": "\n", - "lineno": 820, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 820, - "start_region_line": 137 - }, - { - "end_outermost_loop": 827, - "end_region_line": 827, - "line": " def set_vel_I_gain(self,x):\n", - "lineno": 821, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 821, - "start_region_line": 821 - }, - { - "end_outermost_loop": 823, - "end_region_line": 827, - "line": " if not self.hw_valid:\n", - "lineno": 822, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 822, - "start_region_line": 821 - }, - { - "end_outermost_loop": 823, - "end_region_line": 827, - "line": " return\n", - "lineno": 823, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 823, - "start_region_line": 821 - }, - { - "end_outermost_loop": 826, - "end_region_line": 827, - "line": " with self.pt_lock:\n", - "lineno": 824, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 824, - "start_region_line": 821 - }, - { - "end_outermost_loop": 826, - "end_region_line": 827, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 825, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 825, - "start_region_line": 821 - }, - { - "end_outermost_loop": 826, - "end_region_line": 827, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_I_GAIN, int(x))\n", - "lineno": 826, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 826, - "start_region_line": 821 - }, - { - "end_outermost_loop": 827, - "end_region_line": 827, - "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_I_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 827, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 827, - "start_region_line": 821 - }, - { - "end_outermost_loop": 828, - "end_region_line": 1035, - "line": "\n", - "lineno": 828, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 828, - "start_region_line": 137 - }, - { - "end_outermost_loop": 836, - "end_region_line": 836, - "line": " def get_vel_P_gain(self):\n", - "lineno": 829, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 829, - "start_region_line": 829 - }, - { - "end_outermost_loop": 831, - "end_region_line": 836, - "line": " if not self.hw_valid:\n", - "lineno": 830, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 830, - "start_region_line": 829 - }, - { - "end_outermost_loop": 831, - "end_region_line": 836, - "line": " return 0\n", - "lineno": 831, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 831, - "start_region_line": 829 - }, - { - "end_outermost_loop": 834, - "end_region_line": 836, - "line": " with self.pt_lock:\n", - "lineno": 832, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 832, - "start_region_line": 829 - }, - { - "end_outermost_loop": 834, - "end_region_line": 836, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 833, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 833, - "start_region_line": 829 - }, - { - "end_outermost_loop": 834, - "end_region_line": 836, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_P_GAIN)\n", - "lineno": 834, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 834, - "start_region_line": 829 - }, - { - "end_outermost_loop": 835, - "end_region_line": 836, - "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_P_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 835, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 835, - "start_region_line": 829 - }, - { - "end_outermost_loop": 836, - "end_region_line": 836, - "line": " return p\n", - "lineno": 836, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 836, - "start_region_line": 829 - }, - { - "end_outermost_loop": 837, - "end_region_line": 1035, - "line": "\n", - "lineno": 837, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 837, - "start_region_line": 137 - }, - { - "end_outermost_loop": 844, - "end_region_line": 844, - "line": " def set_vel_P_gain(self,x):\n", - "lineno": 838, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 838, - "start_region_line": 838 - }, - { - "end_outermost_loop": 840, - "end_region_line": 844, - "line": " if not self.hw_valid:\n", - "lineno": 839, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 839, - "start_region_line": 838 - }, - { - "end_outermost_loop": 840, - "end_region_line": 844, - "line": " return\n", - "lineno": 840, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 840, - "start_region_line": 838 - }, - { - "end_outermost_loop": 843, - "end_region_line": 844, - "line": " with self.pt_lock:\n", - "lineno": 841, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 841, - "start_region_line": 838 - }, - { - "end_outermost_loop": 843, - "end_region_line": 844, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 842, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 842, - "start_region_line": 838 - }, - { - "end_outermost_loop": 843, - "end_region_line": 844, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_P_GAIN, int(x))\n", - "lineno": 843, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 843, - "start_region_line": 838 - }, - { - "end_outermost_loop": 844, - "end_region_line": 844, - "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_P_GAIN', dxl_comm_result, dxl_error)\n", - "lineno": 844, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 844, - "start_region_line": 838 - }, - { - "end_outermost_loop": 845, - "end_region_line": 1035, - "line": " \n", - "lineno": 845, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 845, - "start_region_line": 137 - }, - { - "end_outermost_loop": 853, - "end_region_line": 853, - "line": " def get_temperature_limit(self):\n", - "lineno": 846, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 846, - "start_region_line": 846 - }, - { - "end_outermost_loop": 848, - "end_region_line": 853, - "line": " if not self.hw_valid:\n", - "lineno": 847, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 847, - "start_region_line": 846 - }, - { - "end_outermost_loop": 848, - "end_region_line": 853, - "line": " return 0\n", - "lineno": 848, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 848, - "start_region_line": 846 - }, - { - "end_outermost_loop": 851, - "end_region_line": 853, - "line": " with self.pt_lock:\n", - "lineno": 849, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 849, - "start_region_line": 846 - }, - { - "end_outermost_loop": 851, - "end_region_line": 853, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 850, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 850, - "start_region_line": 846 - }, - { - "end_outermost_loop": 851, - "end_region_line": 853, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TEMPERATURE_LIMIT)\n", - "lineno": 851, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 851, - "start_region_line": 846 - }, - { - "end_outermost_loop": 852, - "end_region_line": 853, - "line": " self.handle_comm_result('XL430_ADDR_TEMPERATURE_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 852, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 852, - "start_region_line": 846 - }, - { - "end_outermost_loop": 853, - "end_region_line": 853, - "line": " return p\n", - "lineno": 853, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 853, - "start_region_line": 846 - }, - { - "end_outermost_loop": 854, - "end_region_line": 1035, - "line": "\n", - "lineno": 854, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 854, - "start_region_line": 137 - }, - { - "end_outermost_loop": 861, - "end_region_line": 861, - "line": " def set_temperature_limit(self,x):\n", - "lineno": 855, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 855, - "start_region_line": 855 - }, - { - "end_outermost_loop": 857, - "end_region_line": 861, - "line": " if not self.hw_valid:\n", - "lineno": 856, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 856, - "start_region_line": 855 - }, - { - "end_outermost_loop": 857, - "end_region_line": 861, - "line": " return\n", - "lineno": 857, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 857, - "start_region_line": 855 - }, - { - "end_outermost_loop": 860, - "end_region_line": 861, - "line": " with self.pt_lock:\n", - "lineno": 858, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 858, - "start_region_line": 855 - }, - { - "end_outermost_loop": 860, - "end_region_line": 861, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 859, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 859, - "start_region_line": 855 - }, - { - "end_outermost_loop": 860, - "end_region_line": 861, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_TEMPERATURE_LIMIT, int(x))\n", - "lineno": 860, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 860, - "start_region_line": 855 - }, - { - "end_outermost_loop": 861, - "end_region_line": 861, - "line": " self.handle_comm_result('XL430_ADDR_TEMPERATURE_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 861, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 861, - "start_region_line": 855 - }, - { - "end_outermost_loop": 862, - "end_region_line": 1035, - "line": "\n", - "lineno": 862, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 862, - "start_region_line": 137 - }, - { - "end_outermost_loop": 870, - "end_region_line": 870, - "line": " def get_max_voltage_limit(self):\n", - "lineno": 863, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 863, - "start_region_line": 863 - }, - { - "end_outermost_loop": 865, - "end_region_line": 870, - "line": " if not self.hw_valid:\n", - "lineno": 864, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 864, - "start_region_line": 863 - }, - { - "end_outermost_loop": 865, - "end_region_line": 870, - "line": " return 0\n", - "lineno": 865, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 865, - "start_region_line": 863 - }, - { - "end_outermost_loop": 868, - "end_region_line": 870, - "line": " with self.pt_lock:\n", - "lineno": 866, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 866, - "start_region_line": 863 - }, - { - "end_outermost_loop": 868, - "end_region_line": 870, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 867, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 867, - "start_region_line": 863 - }, - { - "end_outermost_loop": 868, - "end_region_line": 870, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_VOLTAGE_LIMIT)\n", - "lineno": 868, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 868, - "start_region_line": 863 - }, - { - "end_outermost_loop": 869, - "end_region_line": 870, - "line": " self.handle_comm_result('XL430_ADDR_MAX_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 869, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 869, - "start_region_line": 863 - }, - { - "end_outermost_loop": 870, - "end_region_line": 870, - "line": " return p\n", - "lineno": 870, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 870, - "start_region_line": 863 - }, - { - "end_outermost_loop": 871, - "end_region_line": 1035, - "line": "\n", - "lineno": 871, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 871, - "start_region_line": 137 - }, - { - "end_outermost_loop": 878, - "end_region_line": 878, - "line": " def set_max_voltage_limit(self,x):\n", - "lineno": 872, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 872, - "start_region_line": 872 - }, - { - "end_outermost_loop": 874, - "end_region_line": 878, - "line": " if not self.hw_valid:\n", - "lineno": 873, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 873, - "start_region_line": 872 - }, - { - "end_outermost_loop": 874, - "end_region_line": 878, - "line": " return\n", - "lineno": 874, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 874, - "start_region_line": 872 - }, - { - "end_outermost_loop": 877, - "end_region_line": 878, - "line": " with self.pt_lock:\n", - "lineno": 875, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 875, - "start_region_line": 872 - }, - { - "end_outermost_loop": 877, - "end_region_line": 878, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 876, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 876, - "start_region_line": 872 - }, - { - "end_outermost_loop": 877, - "end_region_line": 878, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_VOLTAGE_LIMIT, int(x))\n", - "lineno": 877, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 877, - "start_region_line": 872 - }, - { - "end_outermost_loop": 878, - "end_region_line": 878, - "line": " self.handle_comm_result('XL430_ADDR_MAX_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 878, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 878, - "start_region_line": 872 - }, - { - "end_outermost_loop": 879, - "end_region_line": 1035, - "line": "\n", - "lineno": 879, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 879, - "start_region_line": 137 - }, - { - "end_outermost_loop": 887, - "end_region_line": 887, - "line": " def get_min_voltage_limit(self):\n", - "lineno": 880, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 880, - "start_region_line": 880 - }, - { - "end_outermost_loop": 882, - "end_region_line": 887, - "line": " if not self.hw_valid:\n", - "lineno": 881, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 881, - "start_region_line": 880 - }, - { - "end_outermost_loop": 882, - "end_region_line": 887, - "line": " return 0\n", - "lineno": 882, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 882, - "start_region_line": 880 - }, - { - "end_outermost_loop": 885, - "end_region_line": 887, - "line": " with self.pt_lock:\n", - "lineno": 883, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 883, - "start_region_line": 880 - }, - { - "end_outermost_loop": 885, - "end_region_line": 887, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 884, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 884, - "start_region_line": 880 - }, - { - "end_outermost_loop": 885, - "end_region_line": 887, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_VOLTAGE_LIMIT)\n", - "lineno": 885, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 885, - "start_region_line": 880 - }, - { - "end_outermost_loop": 886, - "end_region_line": 887, - "line": " self.handle_comm_result('XL430_ADDR_MIN_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 886, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 886, - "start_region_line": 880 - }, - { - "end_outermost_loop": 887, - "end_region_line": 887, - "line": " return p\n", - "lineno": 887, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 887, - "start_region_line": 880 - }, - { - "end_outermost_loop": 888, - "end_region_line": 1035, - "line": "\n", - "lineno": 888, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 888, - "start_region_line": 137 - }, - { - "end_outermost_loop": 895, - "end_region_line": 895, - "line": " def set_min_voltage_limit(self,x):\n", - "lineno": 889, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 889, - "start_region_line": 889 - }, - { - "end_outermost_loop": 891, - "end_region_line": 895, - "line": " if not self.hw_valid:\n", - "lineno": 890, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 890, - "start_region_line": 889 - }, - { - "end_outermost_loop": 891, - "end_region_line": 895, - "line": " return\n", - "lineno": 891, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 891, - "start_region_line": 889 - }, - { - "end_outermost_loop": 894, - "end_region_line": 895, - "line": " with self.pt_lock:\n", - "lineno": 892, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 892, - "start_region_line": 889 - }, - { - "end_outermost_loop": 894, - "end_region_line": 895, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 893, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 893, - "start_region_line": 889 - }, - { - "end_outermost_loop": 894, - "end_region_line": 895, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_VOLTAGE_LIMIT, int(x))\n", - "lineno": 894, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 894, - "start_region_line": 889 - }, - { - "end_outermost_loop": 895, - "end_region_line": 895, - "line": " self.handle_comm_result('XL430_ADDR_MIN_VOLTAGE_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 895, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 895, - "start_region_line": 889 - }, - { - "end_outermost_loop": 896, - "end_region_line": 1035, - "line": "\n", - "lineno": 896, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 896, - "start_region_line": 137 - }, - { - "end_outermost_loop": 904, - "end_region_line": 904, - "line": " def get_vel_limit(self):\n", - "lineno": 897, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 897, - "start_region_line": 897 - }, - { - "end_outermost_loop": 899, - "end_region_line": 904, - "line": " if not self.hw_valid:\n", - "lineno": 898, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 898, - "start_region_line": 897 - }, - { - "end_outermost_loop": 899, - "end_region_line": 904, - "line": " return 0\n", - "lineno": 899, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 899, - "start_region_line": 897 - }, - { - "end_outermost_loop": 902, - "end_region_line": 904, - "line": " with self.pt_lock:\n", - "lineno": 900, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 900, - "start_region_line": 897 - }, - { - "end_outermost_loop": 902, - "end_region_line": 904, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 901, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 901, - "start_region_line": 897 - }, - { - "end_outermost_loop": 902, - "end_region_line": 904, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_LIMIT)\n", - "lineno": 902, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 902, - "start_region_line": 897 - }, - { - "end_outermost_loop": 903, - "end_region_line": 904, - "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 903, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 903, - "start_region_line": 897 - }, - { - "end_outermost_loop": 904, - "end_region_line": 904, - "line": " return p\n", - "lineno": 904, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 904, - "start_region_line": 897 - }, - { - "end_outermost_loop": 905, - "end_region_line": 1035, - "line": "\n", - "lineno": 905, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 905, - "start_region_line": 137 - }, - { - "end_outermost_loop": 912, - "end_region_line": 912, - "line": " def set_vel_limit(self,x):\n", - "lineno": 906, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 906, - "start_region_line": 906 - }, - { - "end_outermost_loop": 908, - "end_region_line": 912, - "line": " if not self.hw_valid:\n", - "lineno": 907, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 907, - "start_region_line": 906 - }, - { - "end_outermost_loop": 908, - "end_region_line": 912, - "line": " return\n", - "lineno": 908, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 908, - "start_region_line": 906 - }, - { - "end_outermost_loop": 911, - "end_region_line": 912, - "line": " with self.pt_lock:\n", - "lineno": 909, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 909, - "start_region_line": 906 - }, - { - "end_outermost_loop": 911, - "end_region_line": 912, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 910, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 910, - "start_region_line": 906 - }, - { - "end_outermost_loop": 911, - "end_region_line": 912, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_VELOCITY_LIMIT, int(x))\n", - "lineno": 911, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 911, - "start_region_line": 906 - }, - { - "end_outermost_loop": 912, - "end_region_line": 912, - "line": " self.handle_comm_result('XL430_ADDR_VELOCITY_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 912, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 912, - "start_region_line": 906 - }, - { - "end_outermost_loop": 913, - "end_region_line": 1035, - "line": "\n", - "lineno": 913, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 913, - "start_region_line": 137 - }, - { - "end_outermost_loop": 921, - "end_region_line": 921, - "line": " def get_max_pos_limit(self):\n", - "lineno": 914, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 914, - "start_region_line": 914 - }, - { - "end_outermost_loop": 916, - "end_region_line": 921, - "line": " if not self.hw_valid:\n", - "lineno": 915, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 915, - "start_region_line": 914 - }, - { - "end_outermost_loop": 916, - "end_region_line": 921, - "line": " return 0\n", - "lineno": 916, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 916, - "start_region_line": 914 - }, - { - "end_outermost_loop": 919, - "end_region_line": 921, - "line": " with self.pt_lock:\n", - "lineno": 917, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 917, - "start_region_line": 914 - }, - { - "end_outermost_loop": 919, - "end_region_line": 921, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 918, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 918, - "start_region_line": 914 - }, - { - "end_outermost_loop": 919, - "end_region_line": 921, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_POS_LIMIT)\n", - "lineno": 919, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 919, - "start_region_line": 914 - }, - { - "end_outermost_loop": 920, - "end_region_line": 921, - "line": " self.handle_comm_result('XL430_ADDR_MAX_POS_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 920, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 920, - "start_region_line": 914 - }, - { - "end_outermost_loop": 921, - "end_region_line": 921, - "line": " return p\n", - "lineno": 921, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 921, - "start_region_line": 914 - }, - { - "end_outermost_loop": 922, - "end_region_line": 1035, - "line": "\n", - "lineno": 922, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 922, - "start_region_line": 137 - }, - { - "end_outermost_loop": 929, - "end_region_line": 929, - "line": " def set_max_pos_limit(self,x):\n", - "lineno": 923, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 923, - "start_region_line": 923 - }, - { - "end_outermost_loop": 925, - "end_region_line": 929, - "line": " if not self.hw_valid:\n", - "lineno": 924, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 924, - "start_region_line": 923 - }, - { - "end_outermost_loop": 925, - "end_region_line": 929, - "line": " return\n", - "lineno": 925, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 925, - "start_region_line": 923 - }, - { - "end_outermost_loop": 928, - "end_region_line": 929, - "line": " with self.pt_lock:\n", - "lineno": 926, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 926, - "start_region_line": 923 - }, - { - "end_outermost_loop": 928, - "end_region_line": 929, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 927, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 927, - "start_region_line": 923 - }, - { - "end_outermost_loop": 928, - "end_region_line": 929, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MAX_POS_LIMIT, int(x))\n", - "lineno": 928, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 928, - "start_region_line": 923 - }, - { - "end_outermost_loop": 929, - "end_region_line": 929, - "line": " self.handle_comm_result('XL430_ADDR_MAX_POS_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 929, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 929, - "start_region_line": 923 - }, - { - "end_outermost_loop": 930, - "end_region_line": 1035, - "line": "\n", - "lineno": 930, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 930, - "start_region_line": 137 - }, - { - "end_outermost_loop": 937, - "end_region_line": 937, - "line": " def set_min_pos_limit(self,x):\n", - "lineno": 931, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 931, - "start_region_line": 931 - }, - { - "end_outermost_loop": 933, - "end_region_line": 937, - "line": " if not self.hw_valid:\n", - "lineno": 932, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 932, - "start_region_line": 931 - }, - { - "end_outermost_loop": 933, - "end_region_line": 937, - "line": " return\n", - "lineno": 933, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 933, - "start_region_line": 931 - }, - { - "end_outermost_loop": 936, - "end_region_line": 937, - "line": " with self.pt_lock:\n", - "lineno": 934, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 934, - "start_region_line": 931 - }, - { - "end_outermost_loop": 936, - "end_region_line": 937, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 935, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 935, - "start_region_line": 931 - }, - { - "end_outermost_loop": 936, - "end_region_line": 937, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_POS_LIMIT, int(x))\n", - "lineno": 936, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 936, - "start_region_line": 931 - }, - { - "end_outermost_loop": 937, - "end_region_line": 937, - "line": " self.handle_comm_result('XL430_ADDR_MIN_POS_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 937, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 937, - "start_region_line": 931 - }, - { - "end_outermost_loop": 938, - "end_region_line": 1035, - "line": "\n", - "lineno": 938, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 938, - "start_region_line": 137 - }, - { - "end_outermost_loop": 946, - "end_region_line": 946, - "line": " def get_min_pos_limit(self):\n", - "lineno": 939, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 939, - "start_region_line": 939 - }, - { - "end_outermost_loop": 941, - "end_region_line": 946, - "line": " if not self.hw_valid:\n", - "lineno": 940, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 940, - "start_region_line": 939 - }, - { - "end_outermost_loop": 941, - "end_region_line": 946, - "line": " return 0\n", - "lineno": 941, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 941, - "start_region_line": 939 - }, - { - "end_outermost_loop": 944, - "end_region_line": 946, - "line": " with self.pt_lock:\n", - "lineno": 942, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 942, - "start_region_line": 939 - }, - { - "end_outermost_loop": 944, - "end_region_line": 946, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 943, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 943, - "start_region_line": 939 - }, - { - "end_outermost_loop": 944, - "end_region_line": 946, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MIN_POS_LIMIT)\n", - "lineno": 944, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 944, - "start_region_line": 939 - }, - { - "end_outermost_loop": 945, - "end_region_line": 946, - "line": " self.handle_comm_result('XL430_ADDR_MIN_POS_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 945, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 945, - "start_region_line": 939 - }, - { - "end_outermost_loop": 946, - "end_region_line": 946, - "line": " return p\n", - "lineno": 946, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 946, - "start_region_line": 939 - }, - { - "end_outermost_loop": 947, - "end_region_line": 1035, - "line": "\n", - "lineno": 947, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 947, - "start_region_line": 137 - }, - { - "end_outermost_loop": 955, - "end_region_line": 955, - "line": " def get_temp(self):\n", - "lineno": 948, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 948, - "start_region_line": 948 - }, - { - "end_outermost_loop": 950, - "end_region_line": 955, - "line": " if not self.hw_valid:\n", - "lineno": 949, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 949, - "start_region_line": 948 - }, - { - "end_outermost_loop": 950, - "end_region_line": 955, - "line": " return 0\n", - "lineno": 950, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 950, - "start_region_line": 948 - }, - { - "end_outermost_loop": 953, - "end_region_line": 955, - "line": " with self.pt_lock:\n", - "lineno": 951, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 951, - "start_region_line": 948 - }, - { - "end_outermost_loop": 953, - "end_region_line": 955, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 952, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 952, - "start_region_line": 948 - }, - { - "end_outermost_loop": 953, - "end_region_line": 955, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PRESENT_TEMPERATURE)\n", - "lineno": 953, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 35.313443581647, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 953, - "start_region_line": 948 - }, - { - "end_outermost_loop": 954, - "end_region_line": 955, - "line": " self.handle_comm_result('XL430_ADDR_PRESENT_TEMPERATURE', dxl_comm_result, dxl_error)\n", - "lineno": 954, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 954, - "start_region_line": 948 - }, - { - "end_outermost_loop": 955, - "end_region_line": 955, - "line": " return p\n", - "lineno": 955, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 955, - "start_region_line": 948 - }, - { - "end_outermost_loop": 956, - "end_region_line": 1035, - "line": "\n", - "lineno": 956, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 956, - "start_region_line": 137 - }, - { - "end_outermost_loop": 963, - "end_region_line": 963, - "line": " def set_moving_threshold(self,x): #unit of 0.229 rev/min, default 10\n", - "lineno": 957, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 957, - "start_region_line": 957 - }, - { - "end_outermost_loop": 959, - "end_region_line": 963, - "line": " if not self.hw_valid:\n", - "lineno": 958, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 958, - "start_region_line": 957 - }, - { - "end_outermost_loop": 959, - "end_region_line": 963, - "line": " return\n", - "lineno": 959, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 959, - "start_region_line": 957 - }, - { - "end_outermost_loop": 962, - "end_region_line": 963, - "line": " with self.pt_lock:\n", - "lineno": 960, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 960, - "start_region_line": 957 - }, - { - "end_outermost_loop": 962, - "end_region_line": 963, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 961, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 961, - "start_region_line": 957 - }, - { - "end_outermost_loop": 962, - "end_region_line": 963, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MOVING_THRESHOLD, int(x))\n", - "lineno": 962, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 962, - "start_region_line": 957 - }, - { - "end_outermost_loop": 963, - "end_region_line": 963, - "line": " self.handle_comm_result('XL430_ADDR_MOVING_THRESHOLD', dxl_comm_result, dxl_error)\n", - "lineno": 963, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 963, - "start_region_line": 957 - }, - { - "end_outermost_loop": 964, - "end_region_line": 1035, - "line": "\n", - "lineno": 964, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 964, - "start_region_line": 137 - }, - { - "end_outermost_loop": 973, - "end_region_line": 973, - "line": " def get_moving_threshold(self):\n", - "lineno": 965, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 965, - "start_region_line": 965 - }, - { - "end_outermost_loop": 967, - "end_region_line": 973, - "line": " if not self.hw_valid:\n", - "lineno": 966, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 966, - "start_region_line": 965 - }, - { - "end_outermost_loop": 967, - "end_region_line": 973, - "line": " return 0\n", - "lineno": 967, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 967, - "start_region_line": 965 - }, - { - "end_outermost_loop": 971, - "end_region_line": 973, - "line": " with self.pt_lock:\n", - "lineno": 968, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 968, - "start_region_line": 965 - }, - { - "end_outermost_loop": 971, - "end_region_line": 973, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 969, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 969, - "start_region_line": 965 - }, - { - "end_outermost_loop": 970, - "end_region_line": 973, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read4ByteTxRx(self.port_handler, self.dxl_id,\n", - "lineno": 970, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 970, - "start_region_line": 965 - }, - { - "end_outermost_loop": 971, - "end_region_line": 973, - "line": " XL430_ADDR_MOVING_THRESHOLD)\n", - "lineno": 971, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 971, - "start_region_line": 965 - }, - { - "end_outermost_loop": 972, - "end_region_line": 973, - "line": " self.handle_comm_result('XL430_ADDR_MOVING_THRESHOLD', dxl_comm_result, dxl_error)\n", - "lineno": 972, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 972, - "start_region_line": 965 - }, - { - "end_outermost_loop": 973, - "end_region_line": 973, - "line": " return p\n", - "lineno": 973, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 973, - "start_region_line": 965 - }, - { - "end_outermost_loop": 974, - "end_region_line": 1035, - "line": "\n", - "lineno": 974, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 974, - "start_region_line": 137 - }, - { - "end_outermost_loop": 981, - "end_region_line": 981, - "line": " def set_pwm_limit(self,x): #0(0%) ~ 885(100%\n", - "lineno": 975, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 975, - "start_region_line": 975 - }, - { - "end_outermost_loop": 977, - "end_region_line": 981, - "line": " if not self.hw_valid:\n", - "lineno": 976, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 976, - "start_region_line": 975 - }, - { - "end_outermost_loop": 977, - "end_region_line": 981, - "line": " return\n", - "lineno": 977, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 977, - "start_region_line": 975 - }, - { - "end_outermost_loop": 980, - "end_region_line": 981, - "line": " with self.pt_lock:\n", - "lineno": 978, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 978, - "start_region_line": 975 - }, - { - "end_outermost_loop": 980, - "end_region_line": 981, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 979, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 979, - "start_region_line": 975 - }, - { - "end_outermost_loop": 980, - "end_region_line": 981, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PWM_LIMIT, int(x))\n", - "lineno": 980, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 980, - "start_region_line": 975 - }, - { - "end_outermost_loop": 981, - "end_region_line": 981, - "line": " self.handle_comm_result('XL430_ADDR_PWM_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 981, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 981, - "start_region_line": 975 - }, - { - "end_outermost_loop": 982, - "end_region_line": 1035, - "line": "\n", - "lineno": 982, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 982, - "start_region_line": 137 - }, - { - "end_outermost_loop": 990, - "end_region_line": 990, - "line": " def get_pwm_limit(self):\n", - "lineno": 983, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 983, - "start_region_line": 983 - }, - { - "end_outermost_loop": 985, - "end_region_line": 990, - "line": " if not self.hw_valid:\n", - "lineno": 984, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 984, - "start_region_line": 983 - }, - { - "end_outermost_loop": 985, - "end_region_line": 990, - "line": " return 0\n", - "lineno": 985, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 985, - "start_region_line": 983 - }, - { - "end_outermost_loop": 988, - "end_region_line": 990, - "line": " with self.pt_lock:\n", - "lineno": 986, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 986, - "start_region_line": 983 - }, - { - "end_outermost_loop": 988, - "end_region_line": 990, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 987, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 987, - "start_region_line": 983 - }, - { - "end_outermost_loop": 988, - "end_region_line": 990, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read2ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_PWM_LIMIT)\n", - "lineno": 988, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 988, - "start_region_line": 983 - }, - { - "end_outermost_loop": 989, - "end_region_line": 990, - "line": " self.handle_comm_result('XL430_ADDR_PWM_LIMIT', dxl_comm_result, dxl_error)\n", - "lineno": 989, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 989, - "start_region_line": 983 - }, - { - "end_outermost_loop": 990, - "end_region_line": 990, - "line": " return p\n", - "lineno": 990, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 990, - "start_region_line": 983 - }, - { - "end_outermost_loop": 991, - "end_region_line": 1035, - "line": "\n", - "lineno": 991, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 991, - "start_region_line": 137 - }, - { - "end_outermost_loop": 999, - "end_region_line": 999, - "line": " def is_moving(self):\n", - "lineno": 992, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 992, - "start_region_line": 992 - }, - { - "end_outermost_loop": 994, - "end_region_line": 999, - "line": " if not self.hw_valid:\n", - "lineno": 993, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 993, - "start_region_line": 992 - }, - { - "end_outermost_loop": 994, - "end_region_line": 999, - "line": " return 0\n", - "lineno": 994, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 994, - "start_region_line": 992 - }, - { - "end_outermost_loop": 997, - "end_region_line": 999, - "line": " with self.pt_lock:\n", - "lineno": 995, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 995, - "start_region_line": 992 - }, - { - "end_outermost_loop": 997, - "end_region_line": 999, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 996, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 996, - "start_region_line": 992 - }, - { - "end_outermost_loop": 997, - "end_region_line": 999, - "line": " p, dxl_comm_result, dxl_error = self.packet_handler.read1ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_MOVING)\n", - "lineno": 997, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 997, - "start_region_line": 992 - }, - { - "end_outermost_loop": 998, - "end_region_line": 999, - "line": " self.handle_comm_result('XL430_ADDR_MOVING', dxl_comm_result, dxl_error)\n", - "lineno": 998, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 998, - "start_region_line": 992 - }, - { - "end_outermost_loop": 999, - "end_region_line": 999, - "line": " return p\n", - "lineno": 999, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 999, - "start_region_line": 992 - }, - { - "end_outermost_loop": 1000, - "end_region_line": 1035, - "line": "\n", - "lineno": 1000, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1000, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1018, - "end_region_line": 1018, - "line": " def zero_position(self,verbose=False):\n", - "lineno": 1001, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1001, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1003, - "end_region_line": 1018, - "line": " if not self.hw_valid:\n", - "lineno": 1002, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1002, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1003, - "end_region_line": 1018, - "line": " return\n", - "lineno": 1003, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1003, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1004, - "end_region_line": 1018, - "line": " self.logger.debug('Previous HOMING_OFFSET in EEPROM {0}'.format(self.get_homing_offset()))\n", - "lineno": 1004, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1004, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1006, - "end_region_line": 1018, - "line": " if verbose:\n", - "lineno": 1005, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1005, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1006, - "end_region_line": 1018, - "line": " print('Previous HOMING_OFFSET in EEPROM', self.get_homing_offset())\n", - "lineno": 1006, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1006, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1007, - "end_region_line": 1018, - "line": " self.set_homing_offset(0)\n", - "lineno": 1007, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1007, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1008, - "end_region_line": 1018, - "line": " h=-1*self.get_pos()\n", - "lineno": 1008, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1008, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1009, - "end_region_line": 1018, - "line": " self.logger.debug('Setting homing offset to {0}'.format(h))\n", - "lineno": 1009, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1009, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1011, - "end_region_line": 1018, - "line": " if verbose:\n", - "lineno": 1010, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1010, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1011, - "end_region_line": 1018, - "line": " print('Setting homing offset to',h)\n", - "lineno": 1011, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1011, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1012, - "end_region_line": 1018, - "line": " self.set_homing_offset(h)\n", - "lineno": 1012, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1012, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1013, - "end_region_line": 1018, - "line": " self.logger.debug('New HOMING_OFFSET in EEPROM {0}'.format(self.get_homing_offset()))\n", - "lineno": 1013, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1013, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1014, - "end_region_line": 1018, - "line": " self.logger.debug('Current position after homing {0}'.format(self.get_pos()))\n", - "lineno": 1014, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1014, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1017, - "end_region_line": 1018, - "line": " if verbose:\n", - "lineno": 1015, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1015, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1016, - "end_region_line": 1018, - "line": " print('New HOMING_OFFSET in EEPROM', self.get_homing_offset())\n", - "lineno": 1016, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1016, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1017, - "end_region_line": 1018, - "line": " print('Current position after homing',self.get_pos())\n", - "lineno": 1017, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1017, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1018, - "end_region_line": 1018, - "line": " return\n", - "lineno": 1018, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1018, - "start_region_line": 1001 - }, - { - "end_outermost_loop": 1019, - "end_region_line": 1035, - "line": "\n", - "lineno": 1019, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1019, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1027, - "end_region_line": 1027, - "line": " def get_homing_offset(self):\n", - "lineno": 1020, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1020, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1022, - "end_region_line": 1027, - "line": " if not self.hw_valid:\n", - "lineno": 1021, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1021, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1022, - "end_region_line": 1027, - "line": " return 0\n", - "lineno": 1022, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1022, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1025, - "end_region_line": 1027, - "line": " with self.pt_lock:\n", - "lineno": 1023, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1023, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1025, - "end_region_line": 1027, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 1024, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1024, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1025, - "end_region_line": 1027, - "line": " xn, dxl_comm_result, dxl_error = self.read_int32_t(XL430_ADDR_HOMING_OFFSET)\n", - "lineno": 1025, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1025, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1026, - "end_region_line": 1027, - "line": " self.handle_comm_result('XL430_ADDR_HOMING_OFFSET', dxl_comm_result, dxl_error)\n", - "lineno": 1026, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1026, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1027, - "end_region_line": 1027, - "line": " return xn\n", - "lineno": 1027, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1027, - "start_region_line": 1020 - }, - { - "end_outermost_loop": 1028, - "end_region_line": 1035, - "line": "\n", - "lineno": 1028, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1028, - "start_region_line": 137 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " def set_homing_offset(self,x):\n", - "lineno": 1029, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1029, - "start_region_line": 1029 - }, - { - "end_outermost_loop": 1031, - "end_region_line": 1035, - "line": " if not self.hw_valid:\n", - "lineno": 1030, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1030, - "start_region_line": 1029 - }, - { - "end_outermost_loop": 1031, - "end_region_line": 1035, - "line": " return\n", - "lineno": 1031, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1031, - "start_region_line": 1029 - }, - { - "end_outermost_loop": 1034, - "end_region_line": 1035, - "line": " with self.pt_lock:\n", - "lineno": 1032, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1032, - "start_region_line": 1029 - }, - { - "end_outermost_loop": 1034, - "end_region_line": 1035, - "line": " with DelayedKeyboardInterrupt():\n", - "lineno": 1033, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1033, - "start_region_line": 1029 - }, - { - "end_outermost_loop": 1034, - "end_region_line": 1035, - "line": " dxl_comm_result, dxl_error = self.packet_handler.write4ByteTxRx(self.port_handler, self.dxl_id, XL430_ADDR_HOMING_OFFSET, int(x))\n", - "lineno": 1034, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1034, - "start_region_line": 1029 - }, - { - "end_outermost_loop": 1035, - "end_region_line": 1035, - "line": " self.handle_comm_result('XL430_ADDR_HOMING_OFFSET', dxl_comm_result, dxl_error)\n", - "lineno": 1035, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - 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"n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 10, - "start_region_line": 10 - }, - { - "end_outermost_loop": 11, - "end_region_line": 11, - "line": "import pyrealsense2 as rs\n", - "lineno": 11, - "memory_samples": [ - [ - 657391915, - 10.034314155578613 - ] - ], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 10.034314155578613, - "n_malloc_mb": 10.034314155578613, - "n_mallocs": 0, - "n_peak_mb": 10.034314155578613, - "n_python_fraction": 0.9965480000000001, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.20053696514043517, - "start_outermost_loop": 11, - "start_region_line": 11 - }, - { - "end_outermost_loop": 12, - "end_region_line": 12, - "line": "import cv2\n", - "lineno": 12, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 17.629472728812654, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 12, - "start_region_line": 12 - }, - { - "end_outermost_loop": 13, - "end_region_line": 13, - "line": "\n", - "lineno": 13, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 13, - "start_region_line": 13 - }, - { - "end_outermost_loop": 16, - "end_region_line": 16, - "line": "def print_stretch_re_use():\n", - "lineno": 14, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 14, - "start_region_line": 14 - }, - { - "end_outermost_loop": 15, - "end_region_line": 16, - "line": " print(\"For use with S T R E T C H (R) from Hello Robot Inc.\")\n", - "lineno": 15, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 15, - "start_region_line": 14 - }, - { - "end_outermost_loop": 16, - "end_region_line": 16, - "line": " print(\"---------------------------------------------------------------------\\n\")\n", - "lineno": 16, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 16, - "start_region_line": 14 - }, - { - "end_outermost_loop": 17, - "end_region_line": 17, - "line": "\n", - "lineno": 17, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 17, - "start_region_line": 17 - }, - { - "end_outermost_loop": 31, - "end_region_line": 31, - "line": "def create_time_string(time_format='%Y%m%d%H%M%S'):\n", - "lineno": 18, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 18, - "start_region_line": 18 - }, - { - "end_outermost_loop": 19, - "end_region_line": 31, - "line": " \"\"\"Returns current time formatted as `time_format`\n", - "lineno": 19, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 19, - "start_region_line": 18 - }, - { - "end_outermost_loop": 20, - "end_region_line": 31, - "line": "\n", - "lineno": 20, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 20, - "start_region_line": 18 - }, - { - "end_outermost_loop": 21, - "end_region_line": 31, - "line": " Parameters\n", - "lineno": 21, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 21, - "start_region_line": 18 - }, - { - "end_outermost_loop": 22, - "end_region_line": 31, - "line": " ----------\n", - "lineno": 22, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 22, - "start_region_line": 18 - }, - { - "end_outermost_loop": 23, - "end_region_line": 31, - "line": " time_format : str\n", - "lineno": 23, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 23, - "start_region_line": 18 - }, - { - "end_outermost_loop": 24, - "end_region_line": 31, - "line": " Refer https://docs.python.org/3/library/time.html#time.strftime for options\n", - "lineno": 24, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 24, - "start_region_line": 18 - }, - { - "end_outermost_loop": 25, - "end_region_line": 31, - "line": "\n", - "lineno": 25, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 25, - "start_region_line": 18 - }, - { - "end_outermost_loop": 26, - "end_region_line": 31, - "line": " Returns\n", - "lineno": 26, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 26, - "start_region_line": 18 - }, - { - "end_outermost_loop": 27, - "end_region_line": 31, - "line": " -------\n", - "lineno": 27, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 27, - "start_region_line": 18 - }, - { - "end_outermost_loop": 28, - "end_region_line": 31, - "line": " str\n", - "lineno": 28, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 28, - "start_region_line": 18 - }, - { - "end_outermost_loop": 29, - "end_region_line": 31, - "line": " time as string in requested format\n", - "lineno": 29, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 29, - "start_region_line": 18 - }, - { - "end_outermost_loop": 30, - "end_region_line": 31, - "line": " \"\"\"\n", - "lineno": 30, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 30, - "start_region_line": 18 - }, - { - "end_outermost_loop": 31, - "end_region_line": 31, - "line": " return time.strftime(time_format)\n", - "lineno": 31, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 31, - "start_region_line": 18 - }, - { - "end_outermost_loop": 32, - "end_region_line": 32, - "line": "\n", - "lineno": 32, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 32, - "start_region_line": 32 - }, - { - "end_outermost_loop": 34, - "end_region_line": 34, - "line": "def deg_to_rad(x):\n", - "lineno": 33, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 33, - "start_region_line": 33 - }, - { - "end_outermost_loop": 34, - "end_region_line": 34, - "line": " return math.pi*x/180.0\n", - "lineno": 34, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 34, - "start_region_line": 33 - }, - { - "end_outermost_loop": 35, - "end_region_line": 35, - "line": "\n", - "lineno": 35, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 35, - "start_region_line": 35 - }, - { - "end_outermost_loop": 37, - "end_region_line": 37, - "line": "def rad_to_deg(x):\n", - "lineno": 36, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 36, - "start_region_line": 36 - }, - { - "end_outermost_loop": 37, - "end_region_line": 37, - "line": " return 180.0*x/math.pi\n", - "lineno": 37, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 37, - "start_region_line": 36 - }, - { - "end_outermost_loop": 38, - "end_region_line": 38, - "line": "\n", - "lineno": 38, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 38, - "start_region_line": 38 - }, - { - "end_outermost_loop": 43, - "end_region_line": 43, - "line": "def confirm(question):\n", - "lineno": 39, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 39, - "start_region_line": 39 - }, - { - "end_outermost_loop": 40, - "end_region_line": 43, - "line": " reply = None\n", - "lineno": 40, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 40, - "start_region_line": 39 - }, - { - "end_outermost_loop": 42, - "end_region_line": 42, - "line": " while reply not in (\"y\", \"n\"):\n", - "lineno": 41, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 41, - "start_region_line": 41 - }, - { - "end_outermost_loop": 42, - "end_region_line": 42, - "line": " reply = input(question + \" (y/n)\").lower()\n", - "lineno": 42, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 41, - "start_region_line": 41 - }, - { - "end_outermost_loop": 43, - "end_region_line": 43, - "line": " return (reply == \"y\")\n", - "lineno": 43, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 43, - "start_region_line": 39 - }, - { - "end_outermost_loop": 44, - "end_region_line": 44, - "line": "\n", - "lineno": 44, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 45, - "end_region_line": 45, - "line": "\n", - "lineno": 45, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 45, - "start_region_line": 45 - }, - { - "end_outermost_loop": 47, - "end_region_line": 47, - "line": "def get_display():\n", - "lineno": 46, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 46, - "start_region_line": 46 - }, - { - "end_outermost_loop": 47, - "end_region_line": 47, - "line": " return os.environ.get('DISPLAY', None)\n", - "lineno": 47, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 47, - "start_region_line": 46 - }, - { - "end_outermost_loop": 48, - "end_region_line": 48, - "line": "\n", - "lineno": 48, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 48, - "start_region_line": 48 - }, - { - "end_outermost_loop": 50, - "end_region_line": 50, - "line": "def get_fleet_id():\n", - "lineno": 49, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 49, - "start_region_line": 49 - }, - { - "end_outermost_loop": 50, - "end_region_line": 50, - "line": " return os.environ['HELLO_FLEET_ID']\n", - "lineno": 50, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 50, - "start_region_line": 49 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": "\n", - "lineno": 51, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 51, - "start_region_line": 51 - }, - { - "end_outermost_loop": 53, - "end_region_line": 53, - "line": "def set_fleet_id(id):\n", - "lineno": 52, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 52, - "start_region_line": 52 - }, - { - "end_outermost_loop": 53, - "end_region_line": 53, - "line": " os.environ['HELLO_FLEET_ID']=id\n", - "lineno": 53, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 53, - "start_region_line": 52 - }, - { - "end_outermost_loop": 54, - "end_region_line": 54, - "line": "\n", - "lineno": 54, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 54, - "start_region_line": 54 - }, - { - "end_outermost_loop": 56, - "end_region_line": 56, - "line": "def get_fleet_directory():\n", - "lineno": 55, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 55, - "start_region_line": 55 - }, - { - "end_outermost_loop": 56, - "end_region_line": 56, - "line": " return os.environ['HELLO_FLEET_PATH']+'/'+get_fleet_id()+'/'\n", - "lineno": 56, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 56, - "start_region_line": 55 - }, - { - "end_outermost_loop": 57, - "end_region_line": 57, - "line": "\n", - "lineno": 57, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 57, - "start_region_line": 57 - }, - { - "end_outermost_loop": 58, - "end_region_line": 58, - "line": "\n", - "lineno": 58, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 58, - "start_region_line": 58 - }, - { - "end_outermost_loop": 61, - "end_region_line": 61, - "line": "def set_fleet_directory(fleet_path,fleet_id):\n", - "lineno": 59, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 59, - "start_region_line": 59 - }, - { - "end_outermost_loop": 60, - "end_region_line": 61, - "line": " os.environ['HELLO_FLEET_ID'] = fleet_id\n", - "lineno": 60, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 60, - "start_region_line": 59 - }, - { - "end_outermost_loop": 61, - "end_region_line": 61, - "line": " os.environ['HELLO_FLEET_PATH'] = fleet_path\n", - "lineno": 61, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 61, - "start_region_line": 59 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": "\n", - "lineno": 62, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 62, - "start_region_line": 62 - }, - { - "end_outermost_loop": 63, - "end_region_line": 63, - "line": "\n", - "lineno": 63, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 63, - "start_region_line": 63 - }, - { - "end_outermost_loop": 79, - "end_region_line": 79, - "line": "def get_stretch_directory(sub_directory=''):\n", - "lineno": 64, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 64, - "start_region_line": 64 - }, - { - "end_outermost_loop": 65, - "end_region_line": 79, - "line": " \"\"\"Returns path to stretch_user dir if HELLO_FLEET_PATH env var exists\n", - "lineno": 65, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 65, - "start_region_line": 64 - }, - { - "end_outermost_loop": 66, - "end_region_line": 79, - "line": "\n", - "lineno": 66, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 66, - "start_region_line": 64 - }, - { - "end_outermost_loop": 67, - "end_region_line": 79, - "line": " Parameters\n", - "lineno": 67, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 67, - "start_region_line": 64 - }, - { - "end_outermost_loop": 68, - "end_region_line": 79, - "line": " ----------\n", - "lineno": 68, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 68, - "start_region_line": 64 - }, - { - "end_outermost_loop": 69, - "end_region_line": 79, - "line": " sub_directory : str\n", - "lineno": 69, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 69, - "start_region_line": 64 - }, - { - "end_outermost_loop": 70, - "end_region_line": 79, - "line": " valid sub_directory within stretch_user/\n", - "lineno": 70, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 70, - "start_region_line": 64 - }, - { - "end_outermost_loop": 71, - "end_region_line": 79, - "line": "\n", - "lineno": 71, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 71, - "start_region_line": 64 - }, - { - "end_outermost_loop": 72, - "end_region_line": 79, - "line": " Returns\n", - "lineno": 72, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 72, - "start_region_line": 64 - }, - { - "end_outermost_loop": 73, - "end_region_line": 79, - "line": " -------\n", - "lineno": 73, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 73, - "start_region_line": 64 - }, - { - "end_outermost_loop": 74, - "end_region_line": 79, - "line": " str\n", - "lineno": 74, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 74, - "start_region_line": 64 - }, - { - "end_outermost_loop": 75, - "end_region_line": 79, - "line": " dirpath to stretch_user/ or dir within it if stretch_user/ exists, else /tmp\n", - "lineno": 75, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 75, - "start_region_line": 64 - }, - { - "end_outermost_loop": 76, - "end_region_line": 79, - "line": " \"\"\"\n", - "lineno": 76, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 76, - "start_region_line": 64 - }, - { - "end_outermost_loop": 77, - "end_region_line": 79, - "line": " base_path = os.environ.get('HELLO_FLEET_PATH', None)\n", - "lineno": 77, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 77, - "start_region_line": 64 - }, - { - "end_outermost_loop": 78, - "end_region_line": 79, - "line": " full_path = base_path + '/' + sub_directory if base_path is not None else '/tmp/'\n", - "lineno": 78, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 78, - "start_region_line": 64 - }, - { - "end_outermost_loop": 79, - "end_region_line": 79, - "line": " return full_path\n", - "lineno": 79, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 79, - "start_region_line": 64 - }, - { - "end_outermost_loop": 80, - "end_region_line": 80, - "line": "\n", - "lineno": 80, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 80, - "start_region_line": 80 - }, - { - "end_outermost_loop": 104, - "end_region_line": 104, - "line": "def read_fleet_yaml(f,fleet_dir=None):\n", - "lineno": 81, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 81, - "start_region_line": 81 - }, - { - "end_outermost_loop": 82, - "end_region_line": 104, - "line": " \"\"\"Reads yaml by filename from fleet directory\n", - "lineno": 82, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 82, - "start_region_line": 81 - }, - { - "end_outermost_loop": 83, - "end_region_line": 104, - "line": "\n", - "lineno": 83, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 83, - "start_region_line": 81 - }, - { - "end_outermost_loop": 84, - "end_region_line": 104, - "line": " Parameters\n", - "lineno": 84, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 84, - "start_region_line": 81 - }, - { - "end_outermost_loop": 85, - "end_region_line": 104, - "line": " ----------\n", - "lineno": 85, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 85, - "start_region_line": 81 - }, - { - "end_outermost_loop": 86, - "end_region_line": 104, - "line": " f : str\n", - "lineno": 86, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 86, - "start_region_line": 81 - }, - { - "end_outermost_loop": 87, - "end_region_line": 104, - "line": " filename of the yaml\n", - "lineno": 87, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 87, - "start_region_line": 81 - }, - { - "end_outermost_loop": 88, - "end_region_line": 104, - "line": "\n", - "lineno": 88, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 88, - "start_region_line": 81 - }, - { - "end_outermost_loop": 89, - "end_region_line": 104, - "line": " Returns\n", - "lineno": 89, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 89, - "start_region_line": 81 - }, - { - "end_outermost_loop": 90, - "end_region_line": 104, - "line": " -------\n", - "lineno": 90, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 90, - "start_region_line": 81 - }, - { - "end_outermost_loop": 91, - "end_region_line": 104, - "line": " dict\n", - "lineno": 91, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 91, - "start_region_line": 81 - }, - { - "end_outermost_loop": 92, - "end_region_line": 104, - "line": " yaml as dictionary if valid file, else empty dict\n", - "lineno": 92, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 92, - "start_region_line": 81 - }, - { - "end_outermost_loop": 93, - "end_region_line": 104, - "line": " \"\"\"\n", - "lineno": 93, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 93, - "start_region_line": 81 - }, - { - "end_outermost_loop": 94, - "end_region_line": 104, - "line": " try:\n", - "lineno": 94, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 94, - "start_region_line": 81 - }, - { - "end_outermost_loop": 99, - "end_region_line": 104, - "line": " if fleet_dir is None:\n", - "lineno": 95, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 95, - "start_region_line": 81 - }, - { - "end_outermost_loop": 96, - "end_region_line": 104, - "line": " fleet_dir=get_fleet_directory()\n", - "lineno": 96, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 96, - "start_region_line": 81 - }, - { - "end_outermost_loop": 99, - "end_region_line": 104, - "line": " else:\n", - "lineno": 97, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 95, - "start_region_line": 81 - }, - { - "end_outermost_loop": 99, - "end_region_line": 104, - "line": " if fleet_dir[-1] != '/':\n", - "lineno": 98, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 98, - "start_region_line": 81 - }, - { - "end_outermost_loop": 99, - "end_region_line": 104, - "line": " fleet_dir = fleet_dir + '/'\n", - "lineno": 99, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 99, - "start_region_line": 81 - }, - { - "end_outermost_loop": 102, - "end_region_line": 104, - "line": " with open(fleet_dir+f, 'r') as s:\n", - "lineno": 100, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 100, - "start_region_line": 81 - }, - { - "end_outermost_loop": 101, - "end_region_line": 104, - "line": " p = yaml.load(s,Loader=yaml.FullLoader)\n", - "lineno": 101, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 101, - "start_region_line": 81 - }, - { - "end_outermost_loop": 102, - "end_region_line": 104, - "line": " return {} if p is None else p\n", - "lineno": 102, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 102, - "start_region_line": 81 - }, - { - "end_outermost_loop": 103, - "end_region_line": 104, - "line": " except IOError:\n", - "lineno": 103, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 103, - "start_region_line": 81 - }, - { - "end_outermost_loop": 104, - "end_region_line": 104, - "line": " return {}\n", - "lineno": 104, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 104, - "start_region_line": 81 - }, - { - "end_outermost_loop": 105, - "end_region_line": 105, - "line": "\n", - "lineno": 105, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 105, - "start_region_line": 105 - }, - { - "end_outermost_loop": 114, - "end_region_line": 114, - "line": "def write_fleet_yaml(fn,rp,fleet_dir=None,header=None):\n", - "lineno": 106, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 106, - "start_region_line": 106 - }, - { - "end_outermost_loop": 108, - "end_region_line": 114, - "line": " if fleet_dir is None:\n", - "lineno": 107, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 107, - "start_region_line": 106 - }, - { - "end_outermost_loop": 108, - "end_region_line": 114, - "line": " fleet_dir = get_fleet_directory()\n", - "lineno": 108, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 108, - "start_region_line": 106 - }, - { - "end_outermost_loop": 110, - "end_region_line": 114, - "line": " if fleet_dir[-1]!='/':\n", - "lineno": 109, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 109, - "start_region_line": 106 - }, - { - "end_outermost_loop": 110, - "end_region_line": 114, - "line": " fleet_dir+='/'\n", - "lineno": 110, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 110, - "start_region_line": 106 - }, - { - "end_outermost_loop": 114, - "end_region_line": 114, - "line": " with open(fleet_dir+fn, 'w') as yaml_file:\n", - "lineno": 111, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 111, - "start_region_line": 106 - }, - { - "end_outermost_loop": 113, - "end_region_line": 114, - "line": " if header is not None:\n", - "lineno": 112, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 112, - "start_region_line": 106 - }, - { - "end_outermost_loop": 113, - "end_region_line": 114, - "line": " yaml_file.write(header)\n", - "lineno": 113, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 113, - "start_region_line": 106 - }, - { - "end_outermost_loop": 114, - "end_region_line": 114, - "line": " yaml.dump(rp, yaml_file, default_flow_style=False)\n", - "lineno": 114, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 114, - "start_region_line": 106 - }, - { - "end_outermost_loop": 115, - "end_region_line": 115, - "line": "\n", - "lineno": 115, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 115, - "start_region_line": 115 - }, - { - "end_outermost_loop": 116, - "end_region_line": 116, - "line": "\n", - "lineno": 116, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 116, - "start_region_line": 116 - }, - { - "end_outermost_loop": 148, - "end_region_line": 148, - "line": "def overwrite_dict(overwritee_dict, overwriter_dict):\n", - "lineno": 117, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 118, - "end_region_line": 148, - "line": " \"\"\"Merge two dictionaries while overwriting common keys and\n", - "lineno": 118, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 118, - "start_region_line": 117 - }, - { - "end_outermost_loop": 119, - "end_region_line": 148, - "line": " report errors when values of the same key differ in Python\n", - "lineno": 119, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 119, - "start_region_line": 117 - }, - { - "end_outermost_loop": 120, - "end_region_line": 148, - "line": " type. The result gets stored in `overwritee_dict`.\n", - "lineno": 120, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 120, - "start_region_line": 117 - }, - { - "end_outermost_loop": 121, - "end_region_line": 148, - "line": "\n", - "lineno": 121, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 121, - "start_region_line": 117 - }, - { - "end_outermost_loop": 122, - "end_region_line": 148, - "line": " Parameters\n", - "lineno": 122, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 122, - "start_region_line": 117 - }, - { - "end_outermost_loop": 123, - "end_region_line": 148, - "line": " ----------\n", - "lineno": 123, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 123, - "start_region_line": 117 - }, - { - "end_outermost_loop": 124, - "end_region_line": 148, - "line": " overwritee_dict : dict\n", - "lineno": 124, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 124, - "start_region_line": 117 - }, - { - "end_outermost_loop": 125, - "end_region_line": 148, - "line": " The dictionary which will be overwritten. Use this as the merged result.\n", - "lineno": 125, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 125, - "start_region_line": 117 - }, - { - "end_outermost_loop": 126, - "end_region_line": 148, - "line": " overwriter_dict : dict\n", - "lineno": 126, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 126, - "start_region_line": 117 - }, - { - "end_outermost_loop": 127, - "end_region_line": 148, - "line": " The dictionary which will overwrite.\n", - "lineno": 127, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 127, - "start_region_line": 117 - }, - { - "end_outermost_loop": 128, - "end_region_line": 148, - "line": "\n", - "lineno": 128, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 128, - "start_region_line": 117 - }, - { - "end_outermost_loop": 129, - "end_region_line": 148, - "line": " Returns\n", - "lineno": 129, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 129, - "start_region_line": 117 - }, - { - "end_outermost_loop": 130, - "end_region_line": 148, - "line": " -------\n", - "lineno": 130, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 130, - "start_region_line": 117 - }, - { - "end_outermost_loop": 131, - "end_region_line": 148, - "line": " bool\n", - "lineno": 131, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 131, - "start_region_line": 117 - }, - { - "end_outermost_loop": 132, - "end_region_line": 148, - "line": " True if no mismatches were found during the overwrite, False otherwise.\n", - "lineno": 132, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 132, - "start_region_line": 117 - }, - { - "end_outermost_loop": 133, - "end_region_line": 148, - "line": " \"\"\"\n", - "lineno": 133, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 133, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 148, - "line": " no_mismatches = True\n", - "lineno": 134, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 134, - "start_region_line": 117 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " for k in overwriter_dict.keys():\n", - "lineno": 135, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " if k in overwritee_dict:\n", - "lineno": 136, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " if (isinstance(overwritee_dict[k], dict) and isinstance(overwriter_dict[k], dict)):\n", - "lineno": 137, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " sub_no_mismatches = overwrite_dict(overwritee_dict[k], overwriter_dict[k])\n", - "lineno": 138, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " no_mismatches = no_mismatches and sub_no_mismatches\n", - "lineno": 139, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " else:\n", - "lineno": 140, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " if (type(overwritee_dict[k]) == type(overwriter_dict[k])) or (isinstance(overwritee_dict[k], numbers.Real) and isinstance(overwriter_dict[k], numbers.Real)):\n", - "lineno": 141, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " overwritee_dict[k] = overwriter_dict[k]\n", - "lineno": 142, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " else:\n", - "lineno": 143, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " no_mismatches = False\n", - "lineno": 144, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " print('stretch_body.hello_utils.overwrite_dict ERROR: Type mismatch for key={0}, between overwritee={1} and overwriter={2}'.format(k, overwritee_dict[k], overwriter_dict[k]), file=sys.stderr)\n", - "lineno": 145, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " else: #If key not present, add anyhow (useful for overlaying params)\n", - "lineno": 146, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": " overwritee_dict[k] = overwriter_dict[k]\n", - "lineno": 147, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 135 - }, - { - "end_outermost_loop": 148, - "end_region_line": 148, - "line": " return no_mismatches\n", - "lineno": 148, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 148, - "start_region_line": 117 - }, - { - "end_outermost_loop": 149, - "end_region_line": 149, - "line": "\n", - "lineno": 149, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 149, - "start_region_line": 149 - }, - { - "end_outermost_loop": 166, - "end_region_line": 166, - "line": "def pretty_print_dict(title, d):\n", - "lineno": 150, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 150, - "start_region_line": 150 - }, - { - "end_outermost_loop": 151, - "end_region_line": 166, - "line": " \"\"\"Print human readable representation of dictionary to terminal\n", - "lineno": 151, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 151, - "start_region_line": 150 - }, - { - "end_outermost_loop": 152, - "end_region_line": 166, - "line": "\n", - "lineno": 152, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 152, - "start_region_line": 150 - }, - { - "end_outermost_loop": 153, - "end_region_line": 166, - "line": " Parameters\n", - "lineno": 153, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 153, - "start_region_line": 150 - }, - { - "end_outermost_loop": 154, - "end_region_line": 166, - "line": " ----------\n", - "lineno": 154, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 154, - "start_region_line": 150 - }, - { - "end_outermost_loop": 155, - "end_region_line": 166, - "line": " title : str\n", - "lineno": 155, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 155, - "start_region_line": 150 - }, - { - "end_outermost_loop": 156, - "end_region_line": 166, - "line": " header title under which the dictionary is printed\n", - "lineno": 156, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 156, - "start_region_line": 150 - }, - { - "end_outermost_loop": 157, - "end_region_line": 166, - "line": " d : dict\n", - "lineno": 157, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 157, - "start_region_line": 150 - }, - { - "end_outermost_loop": 158, - "end_region_line": 166, - "line": " the dictionary to pretty print\n", - "lineno": 158, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 158, - "start_region_line": 150 - }, - { - "end_outermost_loop": 159, - "end_region_line": 166, - "line": " \"\"\"\n", - "lineno": 159, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 159, - "start_region_line": 150 - }, - { - "end_outermost_loop": 160, - "end_region_line": 166, - "line": " print('-------- {0} --------'.format(title))\n", - "lineno": 160, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 160, - "start_region_line": 150 - }, - { - "end_outermost_loop": 163, - "end_region_line": 163, - "line": " for k in d.keys():\n", - "lineno": 161, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 161, - "start_region_line": 161 - }, - { - "end_outermost_loop": 163, - "end_region_line": 163, - "line": " if type(d[k]) != dict:\n", - "lineno": 162, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 161, - "start_region_line": 161 - }, - { - "end_outermost_loop": 163, - "end_region_line": 163, - "line": " print(k, ' : ', d[k])\n", - "lineno": 163, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 161, - "start_region_line": 161 - }, - { - "end_outermost_loop": 166, - "end_region_line": 166, - "line": " for k in d.keys():\n", - "lineno": 164, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 164, - "start_region_line": 164 - }, - { - "end_outermost_loop": 166, - "end_region_line": 166, - "line": " if type(d[k]) == dict:\n", - "lineno": 165, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 164, - "start_region_line": 164 - }, - { - "end_outermost_loop": 166, - "end_region_line": 166, - "line": " pretty_print_dict(k, d[k])\n", - "lineno": 166, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 164, - "start_region_line": 164 - }, - { - "end_outermost_loop": 167, - "end_region_line": 167, - "line": "\n", - "lineno": 167, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 167, - "start_region_line": 167 - }, - { - "end_outermost_loop": 168, - "end_region_line": 168, - "line": "\n", - "lineno": 168, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 168, - "start_region_line": 168 - }, - { - "end_outermost_loop": 169, - "end_region_line": 169, - "line": "\n", - "lineno": 169, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 169, - "start_region_line": 169 - }, - { - "end_outermost_loop": 283, - "end_region_line": 283, - "line": "class LoopStats():\n", - "lineno": 170, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 170, - "start_region_line": 170 - }, - { - "end_outermost_loop": 171, - "end_region_line": 283, - "line": " \"\"\"Track timing statistics for control loops\n", - "lineno": 171, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 171, - "start_region_line": 170 - }, - { - "end_outermost_loop": 172, - "end_region_line": 283, - "line": " \"\"\"\n", - "lineno": 172, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 172, - "start_region_line": 170 - }, - { - "end_outermost_loop": 173, - "end_region_line": 283, - "line": "\n", - "lineno": 173, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 173, - "start_region_line": 170 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " def __init__(self, loop_name, target_loop_rate):\n", - "lineno": 174, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 174, - "start_region_line": 174 - }, - { - "end_outermost_loop": 175, - "end_region_line": 195, - "line": " self.loop_name = loop_name\n", - "lineno": 175, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 175, - "start_region_line": 174 - }, - { - "end_outermost_loop": 176, - "end_region_line": 195, - "line": " self.target_loop_rate = target_loop_rate\n", - "lineno": 176, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 176, - "start_region_line": 174 - }, - { - "end_outermost_loop": 177, - "end_region_line": 195, - "line": " self.ts_loop_start = None\n", - "lineno": 177, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 177, - "start_region_line": 174 - }, - { - "end_outermost_loop": 178, - "end_region_line": 195, - "line": " self.ts_loop_end = None\n", - "lineno": 178, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 178, - "start_region_line": 174 - }, - { - "end_outermost_loop": 179, - "end_region_line": 195, - "line": " self.last_ts_loop_start = None\n", - "lineno": 179, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 179, - "start_region_line": 174 - }, - { - "end_outermost_loop": 180, - "end_region_line": 195, - "line": " self.status = {'execution_time_s': 0,\n", - "lineno": 180, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 180, - "start_region_line": 174 - }, - { - "end_outermost_loop": 181, - "end_region_line": 195, - "line": " 'curr_rate_hz': 0,\n", - "lineno": 181, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 174 - }, - { - "end_outermost_loop": 182, - "end_region_line": 195, - "line": " 'avg_rate_hz': 0,\n", - "lineno": 182, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 182, - "start_region_line": 174 - }, - { - "end_outermost_loop": 183, - "end_region_line": 195, - "line": " 'supportable_rate_hz': 0,\n", - "lineno": 183, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 183, - "start_region_line": 174 - }, - { - "end_outermost_loop": 184, - "end_region_line": 195, - "line": " 'min_rate_hz': float('inf'),\n", - "lineno": 184, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 184, - "start_region_line": 174 - }, - { - "end_outermost_loop": 185, - "end_region_line": 195, - "line": " 'max_rate_hz': 0,\n", - "lineno": 185, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 185, - "start_region_line": 174 - }, - { - "end_outermost_loop": 186, - "end_region_line": 195, - "line": " 'std_rate_hz': 0,\n", - "lineno": 186, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 186, - "start_region_line": 174 - }, - { - "end_outermost_loop": 187, - "end_region_line": 195, - "line": " 'missed_loops': 0,\n", - "lineno": 187, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 174 - }, - { - "end_outermost_loop": 188, - "end_region_line": 195, - "line": " 'num_loops': 0}\n", - "lineno": 188, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 188, - "start_region_line": 174 - }, - { - "end_outermost_loop": 189, - "end_region_line": 195, - "line": " self.logger = logging.getLogger(self.loop_name)\n", - "lineno": 189, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 189, - "start_region_line": 174 - }, - { - "end_outermost_loop": 190, - "end_region_line": 195, - "line": " self.curr_rate_history = []\n", - "lineno": 190, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 190, - "start_region_line": 174 - }, - { - "end_outermost_loop": 191, - "end_region_line": 195, - "line": " self.supportable_rate_history = []\n", - "lineno": 191, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 191, - "start_region_line": 174 - }, - { - "end_outermost_loop": 192, - "end_region_line": 195, - "line": " self.n_history = 100\n", - "lineno": 192, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 192, - "start_region_line": 174 - }, - { - "end_outermost_loop": 193, - "end_region_line": 195, - "line": " self.debug_freq = 50\n", - "lineno": 193, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 193, - "start_region_line": 174 - }, - { - "end_outermost_loop": 194, - "end_region_line": 195, - "line": " self.sleep_time_s = 0.0\n", - "lineno": 194, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 194, - "start_region_line": 174 - }, - { - "end_outermost_loop": 195, - "end_region_line": 195, - "line": " self.ts_0=time.time()\n", - "lineno": 195, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 195, - "start_region_line": 174 - }, - { - "end_outermost_loop": 196, - "end_region_line": 283, - "line": "\n", - "lineno": 196, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 196, - "start_region_line": 170 - }, - { - "end_outermost_loop": 206, - "end_region_line": 206, - "line": " def pretty_print(self):\n", - "lineno": 197, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 197, - "start_region_line": 197 - }, - { - "end_outermost_loop": 198, - "end_region_line": 206, - "line": " print('--------- TimingStats %s -----------' % self.loop_name)\n", - "lineno": 198, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 198, - "start_region_line": 197 - }, - { - "end_outermost_loop": 199, - "end_region_line": 206, - "line": " print('Target rate (Hz): %.2f' % self.target_loop_rate)\n", - "lineno": 199, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 199, - "start_region_line": 197 - }, - { - "end_outermost_loop": 200, - "end_region_line": 206, - "line": " print('Current rate (Hz): %.2f' % self.status['curr_rate_hz'])\n", - "lineno": 200, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 200, - "start_region_line": 197 - }, - { - "end_outermost_loop": 201, - "end_region_line": 206, - "line": " print('Average rate (Hz): %.2f' % self.status['avg_rate_hz'])\n", - "lineno": 201, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 201, - "start_region_line": 197 - }, - { - "end_outermost_loop": 202, - "end_region_line": 206, - "line": " print('Standard deviation of rate history (Hz): %.2f' % self.status['std_rate_hz'])\n", - "lineno": 202, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 202, - "start_region_line": 197 - }, - { - "end_outermost_loop": 203, - "end_region_line": 206, - "line": " print('Min rate (Hz): %.2f' % self.status['min_rate_hz'])\n", - "lineno": 203, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 203, - "start_region_line": 197 - }, - { - "end_outermost_loop": 204, - "end_region_line": 206, - "line": " print('Max rate (Hz): %.2f' % self.status['max_rate_hz'])\n", - "lineno": 204, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 204, - "start_region_line": 197 - }, - { - "end_outermost_loop": 205, - "end_region_line": 206, - "line": " print('Supportable rate (Hz): %.2f' % self.status['supportable_rate_hz'])\n", - "lineno": 205, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 205, - "start_region_line": 197 - }, - { - "end_outermost_loop": 206, - "end_region_line": 206, - "line": " print('Warnings: %d out of %d' % (self.status['missed_loops'], self.status['num_loops']))\n", - "lineno": 206, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 206, - "start_region_line": 197 - }, - { - "end_outermost_loop": 207, - "end_region_line": 283, - "line": "\n", - "lineno": 207, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 207, - "start_region_line": 170 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " def mark_loop_start(self):\n", - "lineno": 208, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 208, - "start_region_line": 208 - }, - { - "end_outermost_loop": 209, - "end_region_line": 253, - "line": " self.status['num_loops'] += 1\n", - "lineno": 209, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 209, - "start_region_line": 208 - }, - { - "end_outermost_loop": 210, - "end_region_line": 253, - "line": " self.ts_loop_start=time.time()\n", - "lineno": 210, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 210, - "start_region_line": 208 - }, - { - "end_outermost_loop": 211, - "end_region_line": 253, - "line": "\n", - "lineno": 211, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 211, - "start_region_line": 208 - }, - { - "end_outermost_loop": 214, - "end_region_line": 253, - "line": " if self.last_ts_loop_start is None: #Wait until have sufficient data\n", - "lineno": 212, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 212, - "start_region_line": 208 - }, - { - "end_outermost_loop": 213, - "end_region_line": 253, - "line": " self.last_ts_loop_start=self.ts_loop_start\n", - "lineno": 213, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 213, - "start_region_line": 208 - }, - { - "end_outermost_loop": 214, - "end_region_line": 253, - "line": " return\n", - "lineno": 214, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 214, - "start_region_line": 208 - }, - { - "end_outermost_loop": 215, - "end_region_line": 253, - "line": "\n", - "lineno": 215, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 215, - "start_region_line": 208 - }, - { - "end_outermost_loop": 216, - "end_region_line": 253, - "line": " self.status['curr_rate_hz'] = 1.0 / (self.ts_loop_start - self.last_ts_loop_start)\n", - "lineno": 216, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 216, - "start_region_line": 208 - }, - { - "end_outermost_loop": 217, - "end_region_line": 253, - "line": " self.status['min_rate_hz'] = min(self.status['curr_rate_hz'], self.status['min_rate_hz'])\n", - "lineno": 217, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 217, - "start_region_line": 208 - }, - { - "end_outermost_loop": 218, - "end_region_line": 253, - "line": " self.status['max_rate_hz'] = max(self.status['curr_rate_hz'], self.status['max_rate_hz'])\n", - "lineno": 218, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 218, - "start_region_line": 208 - }, - { - "end_outermost_loop": 219, - "end_region_line": 253, - "line": "\n", - "lineno": 219, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 219, - "start_region_line": 208 - }, - { - "end_outermost_loop": 220, - "end_region_line": 253, - "line": "\n", - "lineno": 220, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 220, - "start_region_line": 208 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " # Calculate average and supportable loop rate **must be done before marking loop end**\n", - "lineno": 221, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 208, - "start_region_line": 208 - }, - { - "end_outermost_loop": 223, - "end_region_line": 253, - "line": " if len(self.curr_rate_history) \\u003e= self.n_history:\n", - "lineno": 222, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 222, - "start_region_line": 208 - }, - { - "end_outermost_loop": 223, - "end_region_line": 253, - "line": " self.curr_rate_history.pop(0)\n", - "lineno": 223, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 223, - "start_region_line": 208 - }, - { - "end_outermost_loop": 224, - "end_region_line": 253, - "line": " self.curr_rate_history.append(self.status['curr_rate_hz'])\n", - "lineno": 224, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 224, - "start_region_line": 208 - }, - { - "end_outermost_loop": 225, - "end_region_line": 253, - "line": " self.status['avg_rate_hz'] = np.mean(self.curr_rate_history)\n", - "lineno": 225, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 225, - "start_region_line": 208 - }, - { - "end_outermost_loop": 226, - "end_region_line": 253, - "line": " self.status['std_rate_hz'] = np.std(self.curr_rate_history)\n", - "lineno": 226, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 208 - }, - { - "end_outermost_loop": 228, - "end_region_line": 253, - "line": " if len(self.supportable_rate_history) \\u003e= self.n_history:\n", - "lineno": 227, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 227, - "start_region_line": 208 - }, - { - "end_outermost_loop": 228, - "end_region_line": 253, - "line": " self.supportable_rate_history.pop(0)\n", - "lineno": 228, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 228, - "start_region_line": 208 - }, - { - "end_outermost_loop": 229, - "end_region_line": 253, - "line": " self.supportable_rate_history.append(1.0 / self.status['execution_time_s'])\n", - "lineno": 229, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 229, - "start_region_line": 208 - }, - { - "end_outermost_loop": 230, - "end_region_line": 253, - "line": " self.status['supportable_rate_hz'] = np.mean(self.supportable_rate_history)\n", - "lineno": 230, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 230, - "start_region_line": 208 - }, - { - "end_outermost_loop": 231, - "end_region_line": 253, - "line": "\n", - "lineno": 231, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 231, - "start_region_line": 208 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " # Log timing stats **must be done before marking loop end**\n", - "lineno": 232, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 208, - "start_region_line": 208 - }, - { - "end_outermost_loop": 244, - "end_region_line": 253, - "line": " if self.status['num_loops'] % self.debug_freq == 0:\n", - "lineno": 233, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 208 - }, - { - "end_outermost_loop": 234, - "end_region_line": 253, - "line": " self.logger.debug('--------- TimingStats %s %d -----------' % (self.loop_name, self.status['num_loops']))\n", - "lineno": 234, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 234, - "start_region_line": 208 - }, - { - "end_outermost_loop": 235, - "end_region_line": 253, - "line": " self.logger.debug('Target rate: %f' % self.target_loop_rate)\n", - "lineno": 235, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 235, - "start_region_line": 208 - }, - { - "end_outermost_loop": 236, - "end_region_line": 253, - "line": " self.logger.debug('Current rate (Hz): %f' % self.status['curr_rate_hz'])\n", - "lineno": 236, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 236, - "start_region_line": 208 - }, - { - "end_outermost_loop": 237, - "end_region_line": 253, - "line": " self.logger.debug('Average rate (Hz): %f' % self.status['avg_rate_hz'])\n", - "lineno": 237, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 237, - "start_region_line": 208 - }, - { - "end_outermost_loop": 238, - "end_region_line": 253, - "line": " self.logger.debug('Standard deviation of rate history (Hz): %f' % self.status['std_rate_hz'])\n", - "lineno": 238, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 238, - "start_region_line": 208 - }, - { - "end_outermost_loop": 239, - "end_region_line": 253, - "line": " self.logger.debug('Min rate (Hz): %f' % self.status['min_rate_hz'])\n", - "lineno": 239, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 239, - "start_region_line": 208 - }, - { - "end_outermost_loop": 240, - "end_region_line": 253, - "line": " self.logger.debug('Max rate (Hz): %f' % self.status['max_rate_hz'])\n", - "lineno": 240, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 240, - "start_region_line": 208 - }, - { - "end_outermost_loop": 241, - "end_region_line": 253, - "line": " self.logger.debug('Supportable rate (Hz): %f' % self.status['supportable_rate_hz'])\n", - "lineno": 241, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 241, - "start_region_line": 208 - }, - { - "end_outermost_loop": 242, - "end_region_line": 253, - "line": " self.logger.debug('Standard deviation of supportable rate history (Hz): %f' % np.std(self.supportable_rate_history))\n", - "lineno": 242, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 242, - "start_region_line": 208 - }, - { - "end_outermost_loop": 243, - "end_region_line": 253, - "line": " self.logger.debug('Warnings: %d out of %d' % (self.status['missed_loops'], self.status['num_loops']))\n", - "lineno": 243, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 243, - "start_region_line": 208 - }, - { - "end_outermost_loop": 244, - "end_region_line": 253, - "line": " self.logger.debug('Sleep time (s): %f' % self.sleep_time_s)\n", - "lineno": 244, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 244, - "start_region_line": 208 - }, - { - "end_outermost_loop": 245, - "end_region_line": 253, - "line": "\n", - "lineno": 245, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 245, - "start_region_line": 208 - }, - { - "end_outermost_loop": 246, - "end_region_line": 253, - "line": " self.last_ts_loop_start = self.ts_loop_start\n", - "lineno": 246, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 246, - "start_region_line": 208 - }, - { - "end_outermost_loop": 247, - "end_region_line": 253, - "line": "\n", - "lineno": 247, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 247, - "start_region_line": 208 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " # Calculate sleep time to achieve desired loop rate\n", - "lineno": 248, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 208, - "start_region_line": 208 - }, - { - "end_outermost_loop": 249, - "end_region_line": 253, - "line": " self.sleep_time_s = (1 / self.target_loop_rate) - self.status['execution_time_s']\n", - "lineno": 249, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 249, - "start_region_line": 208 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " if self.sleep_time_s \\u003c 0.0 and time.time()-self.ts_0\\u003e5.0: #Allow 5s for timing to stabilize on startup\n", - "lineno": 250, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 208 - }, - { - "end_outermost_loop": 251, - "end_region_line": 253, - "line": " self.status['missed_loops'] += 1\n", - "lineno": 251, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 251, - "start_region_line": 208 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " if self.status['missed_loops'] == 1:\n", - "lineno": 252, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 252, - "start_region_line": 208 - }, - { - "end_outermost_loop": 253, - "end_region_line": 253, - "line": " self.logger.debug('Missed target loop rate of %.2f Hz for %s. Currently %.2f Hz' % (self.target_loop_rate, self.loop_name, self.status['curr_rate_hz']))\n", - "lineno": 253, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 253, - "start_region_line": 208 - }, - { - "end_outermost_loop": 254, - "end_region_line": 283, - "line": "\n", - "lineno": 254, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 254, - "start_region_line": 170 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " def mark_loop_end(self):\n", - "lineno": 255, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 255, - "start_region_line": 255 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " # First two cycles initialize vars / log\n", - "lineno": 256, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 255, - "start_region_line": 255 - }, - { - "end_outermost_loop": 258, - "end_region_line": 260, - "line": " if self.ts_loop_start is None:\n", - "lineno": 257, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 257, - "start_region_line": 255 - }, - { - "end_outermost_loop": 258, - "end_region_line": 260, - "line": " return\n", - "lineno": 258, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 258, - "start_region_line": 255 - }, - { - "end_outermost_loop": 259, - "end_region_line": 260, - "line": " self.ts_loop_end = time.time()\n", - "lineno": 259, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 259, - "start_region_line": 255 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " self.status['execution_time_s'] = self.ts_loop_end - self.ts_loop_start\n", - "lineno": 260, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 260, - "start_region_line": 255 - }, - { - "end_outermost_loop": 261, - "end_region_line": 283, - "line": "\n", - "lineno": 261, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 261, - "start_region_line": 170 - }, - { - "end_outermost_loop": 262, - "end_region_line": 283, - "line": "\n", - "lineno": 262, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 262, - "start_region_line": 170 - }, - { - "end_outermost_loop": 268, - "end_region_line": 268, - "line": " def generate_rate_histogram(self, save=None):\n", - "lineno": 263, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 263, - "start_region_line": 263 - }, - { - "end_outermost_loop": 264, - "end_region_line": 268, - "line": " import matplotlib.pyplot as plt\n", - "lineno": 264, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 264, - "start_region_line": 263 - }, - { - "end_outermost_loop": 265, - "end_region_line": 268, - "line": " fig, axs = plt.subplots(1, 1, sharey=True, tight_layout=True)\n", - "lineno": 265, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 263 - }, - { - "end_outermost_loop": 266, - "end_region_line": 268, - "line": " fig.suptitle('Distribution of loop rate (Hz). Target of %.2f ' % self.target_loop_rate)\n", - "lineno": 266, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 266, - "start_region_line": 263 - }, - { - "end_outermost_loop": 267, - "end_region_line": 268, - "line": " axs.hist(x=self.curr_rate_history, bins='auto', color='#0504aa', alpha=0.7, rwidth=0.85)\n", - "lineno": 267, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 267, - "start_region_line": 263 - }, - { - "end_outermost_loop": 268, - "end_region_line": 268, - "line": " plt.show() if save is None else plt.savefig(save)\n", - "lineno": 268, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 268, - "start_region_line": 263 - }, - { - "end_outermost_loop": 269, - "end_region_line": 283, - "line": "\n", - "lineno": 269, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 269, - "start_region_line": 170 - }, - { - "end_outermost_loop": 276, - "end_region_line": 276, - "line": " def get_loop_sleep_time(self):\n", - "lineno": 270, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 270, - "start_region_line": 270 - }, - { - "end_outermost_loop": 271, - "end_region_line": 276, - "line": " \"\"\"\n", - "lineno": 271, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 271, - "start_region_line": 270 - }, - { - "end_outermost_loop": 272, - "end_region_line": 276, - "line": " Returns\n", - "lineno": 272, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 272, - "start_region_line": 270 - }, - { - "end_outermost_loop": 273, - "end_region_line": 276, - "line": " -------\n", - "lineno": 273, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 273, - "start_region_line": 270 - }, - { - "end_outermost_loop": 274, - "end_region_line": 276, - "line": " float : Time to sleep for to hit target loop rate\n", - "lineno": 274, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 274, - "start_region_line": 270 - }, - { - "end_outermost_loop": 275, - "end_region_line": 276, - "line": " \"\"\"\n", - "lineno": 275, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 275, - "start_region_line": 270 - }, - { - "end_outermost_loop": 276, - "end_region_line": 276, - "line": " return max(0.0, self.sleep_time_s)\n", - "lineno": 276, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 276, - "start_region_line": 270 - }, - { - "end_outermost_loop": 277, - "end_region_line": 283, - "line": "\n", - "lineno": 277, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 277, - "start_region_line": 170 - }, - { - "end_outermost_loop": 283, - "end_region_line": 283, - "line": " def wait_until_ready_to_run(self,sleep=.0005):\n", - "lineno": 278, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 278, - "start_region_line": 278 - }, - { - "end_outermost_loop": 281, - "end_region_line": 283, - "line": " if self.ts_loop_start is None:\n", - "lineno": 279, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 279, - "start_region_line": 278 - }, - { - "end_outermost_loop": 280, - "end_region_line": 283, - "line": " time.sleep(.01)\n", - "lineno": 280, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 280, - "start_region_line": 278 - }, - { - "end_outermost_loop": 281, - "end_region_line": 283, - "line": " return True\n", - "lineno": 281, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 281, - "start_region_line": 278 - }, - { - "end_outermost_loop": 283, - "end_region_line": 283, - "line": " while time.time()-self.ts_loop_start\\u003c(1/self.target_loop_rate):\n", - "lineno": 282, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 282, - "start_region_line": 282 - }, - { - "end_outermost_loop": 283, - "end_region_line": 283, - "line": " time.sleep(sleep)\n", - "lineno": 283, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 282, - "start_region_line": 282 - }, - { - "end_outermost_loop": 284, - "end_region_line": 284, - "line": "\n", - "lineno": 284, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 284, - "start_region_line": 284 - }, - { - "end_outermost_loop": 285, - "end_region_line": 285, - "line": "\n", - "lineno": 285, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 285, - "start_region_line": 285 - }, - { - "end_outermost_loop": 291, - "end_region_line": 291, - "line": "class ThreadServiceExit(Exception):\n", - "lineno": 286, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 286, - "start_region_line": 286 - }, - { - "end_outermost_loop": 287, - "end_region_line": 291, - "line": " \"\"\"\n", - "lineno": 287, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 287, - "start_region_line": 286 - }, - { - "end_outermost_loop": 288, - "end_region_line": 291, - "line": " Custom exception which is used to trigger the clean exit\n", - "lineno": 288, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 288, - "start_region_line": 286 - }, - { - "end_outermost_loop": 289, - "end_region_line": 291, - "line": " of all running threads and the main program.\n", - "lineno": 289, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 286 - }, - { - "end_outermost_loop": 290, - "end_region_line": 291, - "line": " \"\"\"\n", - "lineno": 290, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 290, - "start_region_line": 286 - }, - { - "end_outermost_loop": 291, - "end_region_line": 291, - "line": " pass\n", - "lineno": 291, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 291, - "start_region_line": 286 - }, - { - "end_outermost_loop": 292, - "end_region_line": 292, - "line": "\n", - "lineno": 292, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 292, - "start_region_line": 292 - }, - { - "end_outermost_loop": 293, - "end_region_line": 293, - "line": "#Signal handler, must be set from main thread\n", - "lineno": 293, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 293, - "start_region_line": 293 - }, - { - "end_outermost_loop": 296, - "end_region_line": 296, - "line": "def thread_service_shutdown(signum, frame):\n", - "lineno": 294, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 294, - "start_region_line": 294 - }, - { - "end_outermost_loop": 295, - "end_region_line": 296, - "line": " print('Caught signal %d' % signum)\n", - "lineno": 295, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 295, - "start_region_line": 294 - }, - { - "end_outermost_loop": 296, - "end_region_line": 296, - "line": " raise ThreadServiceExit\n", - "lineno": 296, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 296, - "start_region_line": 294 - }, - { - "end_outermost_loop": 297, - "end_region_line": 297, - "line": "\n", - "lineno": 297, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 297, - "start_region_line": 297 - }, - { - "end_outermost_loop": 319, - "end_region_line": 319, - "line": "def evaluate_polynomial_at(poly, t):\n", - "lineno": 298, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 298, - "start_region_line": 298 - }, - { - "end_outermost_loop": 299, - "end_region_line": 319, - "line": " \"\"\"Evaluate a quintic polynomial at a given time.\n", - "lineno": 299, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 299, - "start_region_line": 298 - }, - { - "end_outermost_loop": 300, - "end_region_line": 319, - "line": "\n", - "lineno": 300, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 300, - "start_region_line": 298 - }, - { - "end_outermost_loop": 301, - "end_region_line": 319, - "line": " Parameters\n", - "lineno": 301, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 301, - "start_region_line": 298 - }, - { - "end_outermost_loop": 302, - "end_region_line": 319, - "line": " ----------\n", - "lineno": 302, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 302, - "start_region_line": 298 - }, - { - "end_outermost_loop": 303, - "end_region_line": 319, - "line": " poly : List(float)\n", - "lineno": 303, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 303, - "start_region_line": 298 - }, - { - "end_outermost_loop": 304, - "end_region_line": 319, - "line": " Represents a quintic polynomial as a coefficients array [a0, a1, a2, a3, a4, a5].\n", - "lineno": 304, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 304, - "start_region_line": 298 - }, - { - "end_outermost_loop": 305, - "end_region_line": 319, - "line": " The polynomial is f(t) = a0 + a1*t + a2*t^2 + a3*t^3 + a4*t^4 + a5*t^5\n", - "lineno": 305, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 305, - "start_region_line": 298 - }, - { - "end_outermost_loop": 306, - "end_region_line": 319, - "line": " t : float\n", - "lineno": 306, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 306, - "start_region_line": 298 - }, - { - "end_outermost_loop": 307, - "end_region_line": 319, - "line": " the time in seconds at which to evaluate the polynomial\n", - "lineno": 307, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 307, - "start_region_line": 298 - }, - { - "end_outermost_loop": 308, - "end_region_line": 319, - "line": "\n", - "lineno": 308, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 308, - "start_region_line": 298 - }, - { - "end_outermost_loop": 309, - "end_region_line": 319, - "line": " Returns\n", - "lineno": 309, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 309, - "start_region_line": 298 - }, - { - "end_outermost_loop": 310, - "end_region_line": 319, - "line": " -------\n", - "lineno": 310, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 310, - "start_region_line": 298 - }, - { - "end_outermost_loop": 311, - "end_region_line": 319, - "line": " Tuple(float)\n", - "lineno": 311, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 311, - "start_region_line": 298 - }, - { - "end_outermost_loop": 312, - "end_region_line": 319, - "line": " array with three elements: evaluated position, velocity, and acceleration.\n", - "lineno": 312, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 312, - "start_region_line": 298 - }, - { - "end_outermost_loop": 313, - "end_region_line": 319, - "line": " \"\"\"\n", - "lineno": 313, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 313, - "start_region_line": 298 - }, - { - "end_outermost_loop": 314, - "end_region_line": 319, - "line": " a = [float(elem) for elem in poly]\n", - "lineno": 314, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 314, - "start_region_line": 298 - }, - { - "end_outermost_loop": 315, - "end_region_line": 319, - "line": " t = float(t)\n", - "lineno": 315, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 315, - "start_region_line": 298 - }, - { - "end_outermost_loop": 316, - "end_region_line": 319, - "line": " pos = a[0] + (a[1]*t) + (a[2]*t**2) + (a[3]*t**3) + (a[4]*t**4) + (a[5]*t**5)\n", - "lineno": 316, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 316, - "start_region_line": 298 - }, - { - "end_outermost_loop": 317, - "end_region_line": 319, - "line": " vel = a[1] + (2*a[2]*t) + (3*a[3]*t**2) + (4*a[4]*t**3) + (5*a[5]*t**4)\n", - "lineno": 317, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 317, - "start_region_line": 298 - }, - { - "end_outermost_loop": 318, - "end_region_line": 319, - "line": " accel = (2*a[2]) + (6*a[3]*t) + (12*a[4]*t**2) + (20*a[5]*t**3)\n", - "lineno": 318, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 318, - "start_region_line": 298 - }, - { - "end_outermost_loop": 319, - "end_region_line": 319, - "line": " return (pos, vel, accel)\n", - "lineno": 319, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 319, - "start_region_line": 298 - }, - { - "end_outermost_loop": 320, - "end_region_line": 320, - "line": "\n", - "lineno": 320, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 320, - "start_region_line": 320 - }, - { - "end_outermost_loop": 359, - "end_region_line": 359, - "line": "def is_segment_feasible(segment, v_des, a_des, t=0.0, inc=0.1):\n", - "lineno": 321, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 321, - "start_region_line": 321 - }, - { - "end_outermost_loop": 322, - "end_region_line": 359, - "line": " \"\"\"Determine whether a segment adheres to dynamic limits.\n", - "lineno": 322, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 322, - "start_region_line": 321 - }, - { - "end_outermost_loop": 323, - "end_region_line": 359, - "line": "\n", - "lineno": 323, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 323, - "start_region_line": 321 - }, - { - "end_outermost_loop": 324, - "end_region_line": 359, - "line": " Parameters\n", - "lineno": 324, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 324, - "start_region_line": 321 - }, - { - "end_outermost_loop": 325, - "end_region_line": 359, - "line": " ----------\n", - "lineno": 325, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 325, - "start_region_line": 321 - }, - { - "end_outermost_loop": 326, - "end_region_line": 359, - "line": " segment : List\n", - "lineno": 326, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 326, - "start_region_line": 321 - }, - { - "end_outermost_loop": 327, - "end_region_line": 359, - "line": " Represents a segment of a waypoint trajectory as a list of length eight,\n", - "lineno": 327, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 327, - "start_region_line": 321 - }, - { - "end_outermost_loop": 328, - "end_region_line": 359, - "line": " structured like [duration_s, a0, a1, a2, a3, a4, a5, segment_id].\n", - "lineno": 328, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 328, - "start_region_line": 321 - }, - { - "end_outermost_loop": 329, - "end_region_line": 359, - "line": " v_des : float\n", - "lineno": 329, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 329, - "start_region_line": 321 - }, - { - "end_outermost_loop": 330, - "end_region_line": 359, - "line": " Velocity limit that the segment shouldn't exceed\n", - "lineno": 330, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 330, - "start_region_line": 321 - }, - { - "end_outermost_loop": 331, - "end_region_line": 359, - "line": " a_des : float\n", - "lineno": 331, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 331, - "start_region_line": 321 - }, - { - "end_outermost_loop": 332, - "end_region_line": 359, - "line": " Acceleration limit that the segment shouldn't exceed\n", - "lineno": 332, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 332, - "start_region_line": 321 - }, - { - "end_outermost_loop": 333, - "end_region_line": 359, - "line": " t : float\n", - "lineno": 333, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 333, - "start_region_line": 321 - }, - { - "end_outermost_loop": 334, - "end_region_line": 359, - "line": " optional, time in seconds at which to begin checking segment\n", - "lineno": 334, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - 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"lineno": 336, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 336, - "start_region_line": 321 - }, - { - "end_outermost_loop": 337, - "end_region_line": 359, - "line": "\n", - "lineno": 337, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 337, - "start_region_line": 321 - }, - { - "end_outermost_loop": 338, - "end_region_line": 359, - "line": " Returns\n", - "lineno": 338, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 321 - }, - { - "end_outermost_loop": 339, - "end_region_line": 359, - "line": " -------\n", - "lineno": 339, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - 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"n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 341, - "start_region_line": 321 - }, - { - "end_outermost_loop": 342, - "end_region_line": 359, - "line": " max_v: float\n", - "lineno": 342, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 342, - "start_region_line": 321 - }, - { - "end_outermost_loop": 343, - "end_region_line": 359, - "line": " Maximum velocity of spline\n", - "lineno": 343, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 343, - "start_region_line": 321 - }, - { - "end_outermost_loop": 344, - "end_region_line": 359, - "line": " max_a: float\n", - "lineno": 344, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 344, - "start_region_line": 321 - }, - { - "end_outermost_loop": 345, - "end_region_line": 359, - "line": " Maximum acceleration of spline\n", - "lineno": 345, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 345, - "start_region_line": 321 - }, - { - "end_outermost_loop": 346, - "end_region_line": 359, - "line": " \"\"\"\n", - "lineno": 346, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 346, - "start_region_line": 321 - }, - { - "end_outermost_loop": 347, - "end_region_line": 359, - "line": " v_des = float(v_des)\n", - "lineno": 347, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 347, - "start_region_line": 321 - }, - { - "end_outermost_loop": 348, - "end_region_line": 359, - "line": " a_des = float(a_des)\n", - "lineno": 348, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - 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"n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 350, - "start_region_line": 321 - }, - { - "end_outermost_loop": 351, - "end_region_line": 359, - "line": " success=True\n", - "lineno": 351, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 351, - "start_region_line": 321 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " while t \\u003c segment[0]:\n", - "lineno": 352, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " x_t, vel_t, acc_t = evaluate_polynomial_at(segment[1:-1], t)\n", - "lineno": 353, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " max_v=max(max_v,abs(vel_t))\n", - "lineno": 354, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " max_a = max(max_a, abs(acc_t))\n", - "lineno": 355, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " if abs(vel_t) \\u003e v_des or abs(acc_t) \\u003e a_des:\n", - "lineno": 356, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " success=False\n", - "lineno": 357, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 358, - "end_region_line": 358, - "line": " t = min(segment[0], t + inc)\n", - "lineno": 358, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 352, - "start_region_line": 352 - }, - { - "end_outermost_loop": 359, - "end_region_line": 359, - "line": " return success, max_v, max_a\n", - "lineno": 359, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 321 - }, - { - "end_outermost_loop": 360, - "end_region_line": 360, - "line": "\n", - "lineno": 360, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 360, - "start_region_line": 360 - }, - { - "end_outermost_loop": 386, - "end_region_line": 386, - "line": "def generate_quintic_polynomial(i, f):\n", - "lineno": 361, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 361, - "start_region_line": 361 - }, - { - "end_outermost_loop": 362, - "end_region_line": 386, - "line": " \"\"\"Generate quintic polynomial from two points\n", - "lineno": 362, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 362, - "start_region_line": 361 - }, - { - "end_outermost_loop": 363, - "end_region_line": 386, - "line": "\n", - "lineno": 363, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 363, - "start_region_line": 361 - }, - { - "end_outermost_loop": 364, - "end_region_line": 386, - "line": " Parameters\n", - "lineno": 364, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 364, - "start_region_line": 361 - }, - { - "end_outermost_loop": 365, - "end_region_line": 386, - "line": " ----------\n", - "lineno": 365, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 365, - "start_region_line": 361 - }, - { - "end_outermost_loop": 366, - "end_region_line": 386, - "line": " i : List(float)\n", - "lineno": 366, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 366, - "start_region_line": 361 - }, - { - "end_outermost_loop": 367, - "end_region_line": 386, - "line": " Represents the first waypoint as a list, [time, pos, vel, accel]\n", - "lineno": 367, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 367, - "start_region_line": 361 - }, - { - "end_outermost_loop": 368, - "end_region_line": 386, - "line": " f : List(float)\n", - "lineno": 368, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 368, - "start_region_line": 361 - }, - { - "end_outermost_loop": 369, - "end_region_line": 386, - "line": " Represents the second waypoint as a list, [time, pos, vel, accel]\n", - "lineno": 369, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 369, - "start_region_line": 361 - }, - { - "end_outermost_loop": 370, - "end_region_line": 386, - "line": "\n", - "lineno": 370, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 370, - "start_region_line": 361 - }, - { - "end_outermost_loop": 371, - "end_region_line": 386, - "line": " Returns\n", - "lineno": 371, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 371, - "start_region_line": 361 - }, - { - "end_outermost_loop": 372, - "end_region_line": 386, - "line": " -------\n", - "lineno": 372, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 372, - "start_region_line": 361 - }, - { - "end_outermost_loop": 373, - "end_region_line": 386, - "line": " List(float)\n", - "lineno": 373, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 373, - "start_region_line": 361 - }, - { - "end_outermost_loop": 374, - "end_region_line": 386, - "line": " Represents a quintic polynomial as a coefficients + duration array [duration, a0, a1, a2, a3, a4, a5].\n", - "lineno": 374, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 374, - "start_region_line": 361 - }, - { - "end_outermost_loop": 375, - "end_region_line": 386, - "line": " The polynomial is f(t) = a0 + a1*t + a2*t^2 + a3*t^3 + a4*t^4 + a5*t^5\n", - "lineno": 375, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 375, - "start_region_line": 361 - }, - { - "end_outermost_loop": 376, - "end_region_line": 386, - "line": " \"\"\"\n", - "lineno": 376, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 376, - "start_region_line": 361 - }, - { - "end_outermost_loop": 377, - "end_region_line": 386, - "line": " i = [float(elem) for elem in i]\n", - "lineno": 377, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 377, - "start_region_line": 361 - }, - { - "end_outermost_loop": 378, - "end_region_line": 386, - "line": " f = [float(elem) for elem in f]\n", - "lineno": 378, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 378, - "start_region_line": 361 - }, - { - "end_outermost_loop": 379, - "end_region_line": 386, - "line": " duration = f[0] - i[0]\n", - "lineno": 379, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 379, - "start_region_line": 361 - }, - { - "end_outermost_loop": 380, - "end_region_line": 386, - "line": " a0 = i[1]\n", - "lineno": 380, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 380, - "start_region_line": 361 - }, - { - "end_outermost_loop": 381, - "end_region_line": 386, - "line": " a1 = i[2]\n", - "lineno": 381, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 381, - "start_region_line": 361 - }, - { - "end_outermost_loop": 382, - "end_region_line": 386, - "line": " a2 = i[3] / 2\n", - "lineno": 382, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 382, - "start_region_line": 361 - }, - { - "end_outermost_loop": 383, - "end_region_line": 386, - "line": " a3 = (20 * f[1] - 20 * i[1] - (8 * f[2] + 12 * i[2]) * duration - (3 * i[3] - f[3]) * (duration ** 2)) / (2 * (duration ** 3))\n", - "lineno": 383, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 383, - "start_region_line": 361 - }, - { - "end_outermost_loop": 384, - "end_region_line": 386, - "line": " a4 = (30 * i[1] - 30 * f[1] + (14 * f[2] + 16 * i[2]) * duration + (3 * i[3] - 2 * f[3]) * (duration ** 2)) / (2 * (duration ** 4))\n", - "lineno": 384, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 384, - "start_region_line": 361 - }, - { - "end_outermost_loop": 385, - "end_region_line": 386, - "line": " a5 = (12 * f[1] - 12 * i[1] - (6 * f[2] + 6 * i[2]) * duration - (i[3] - f[3]) * (duration ** 2)) / (2 * (duration ** 5))\n", - "lineno": 385, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 385, - "start_region_line": 361 - }, - { - "end_outermost_loop": 386, - "end_region_line": 386, - "line": " return [duration, a0, a1, a2, a3, a4, a5]\n", - "lineno": 386, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 386, - "start_region_line": 361 - }, - { - "end_outermost_loop": 387, - "end_region_line": 387, - "line": "\n", - "lineno": 387, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 387, - "start_region_line": 387 - }, - { - "end_outermost_loop": 411, - "end_region_line": 411, - "line": "def generate_cubic_polynomial(i, f):\n", - "lineno": 388, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 388, - "start_region_line": 388 - }, - { - "end_outermost_loop": 389, - "end_region_line": 411, - "line": " \"\"\"Generate cubic polynomial from two points\n", - "lineno": 389, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 389, - "start_region_line": 388 - }, - { - "end_outermost_loop": 390, - "end_region_line": 411, - "line": "\n", - "lineno": 390, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 390, - "start_region_line": 388 - }, - { - "end_outermost_loop": 391, - "end_region_line": 411, - "line": " Parameters\n", - "lineno": 391, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 391, - "start_region_line": 388 - }, - { - "end_outermost_loop": 392, - "end_region_line": 411, - "line": " ----------\n", - "lineno": 392, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 392, - "start_region_line": 388 - }, - { - "end_outermost_loop": 393, - "end_region_line": 411, - "line": " i : List(float)\n", - "lineno": 393, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 393, - "start_region_line": 388 - }, - { - "end_outermost_loop": 394, - "end_region_line": 411, - "line": " Represents the first waypoint as a list, [time, pos, vel]\n", - "lineno": 394, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 394, - "start_region_line": 388 - }, - { - "end_outermost_loop": 395, - "end_region_line": 411, - "line": " f : List(float)\n", - "lineno": 395, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 395, - "start_region_line": 388 - }, - { - "end_outermost_loop": 396, - "end_region_line": 411, - "line": " Represents the second waypoint as a list, [time, pos, vel]\n", - "lineno": 396, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 396, - "start_region_line": 388 - }, - { - "end_outermost_loop": 397, - "end_region_line": 411, - "line": "\n", - "lineno": 397, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 397, - "start_region_line": 388 - }, - { - "end_outermost_loop": 398, - "end_region_line": 411, - "line": " Returns\n", - "lineno": 398, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 398, - "start_region_line": 388 - }, - { - "end_outermost_loop": 399, - "end_region_line": 411, - "line": " -------\n", - "lineno": 399, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 399, - "start_region_line": 388 - }, - { - "end_outermost_loop": 400, - "end_region_line": 411, - "line": " List(float)\n", - "lineno": 400, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 400, - "start_region_line": 388 - }, - { - "end_outermost_loop": 401, - "end_region_line": 411, - "line": " Represents a cubic polynomial as a coefficients + duration array [duration, a0, a1, a2, a3, 0, 0].\n", - "lineno": 401, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 401, - "start_region_line": 388 - }, - { - "end_outermost_loop": 402, - "end_region_line": 411, - "line": " The polynomial is f(t) = a0 + a1*t + a2*t^2 + a3*t^3\n", - "lineno": 402, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 402, - "start_region_line": 388 - }, - { - "end_outermost_loop": 403, - "end_region_line": 411, - "line": " \"\"\"\n", - "lineno": 403, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 403, - "start_region_line": 388 - }, - { - "end_outermost_loop": 404, - "end_region_line": 411, - "line": " i = [float(elem) for elem in i]\n", - "lineno": 404, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 404, - "start_region_line": 388 - }, - { - "end_outermost_loop": 405, - "end_region_line": 411, - "line": " f = [float(elem) for elem in f]\n", - "lineno": 405, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 405, - "start_region_line": 388 - }, - { - "end_outermost_loop": 406, - "end_region_line": 411, - "line": " duration = f[0] - i[0]\n", - "lineno": 406, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 406, - "start_region_line": 388 - }, - { - "end_outermost_loop": 407, - "end_region_line": 411, - "line": " a0 = i[1]\n", - "lineno": 407, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 407, - "start_region_line": 388 - }, - { - "end_outermost_loop": 408, - "end_region_line": 411, - "line": " a1 = i[2]\n", - "lineno": 408, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 408, - "start_region_line": 388 - }, - { - "end_outermost_loop": 409, - "end_region_line": 411, - "line": " a2 = (3 / duration ** 2) * (f[1] - i[1]) - (2 / duration) * i[2] - (1 / duration) * f[2]\n", - "lineno": 409, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 409, - "start_region_line": 388 - }, - { - "end_outermost_loop": 410, - "end_region_line": 411, - "line": " a3 = (-2 / duration ** 3) * (f[1] - i[1]) + (1 / duration ** 2) * (f[2] + i[2])\n", - "lineno": 410, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 410, - "start_region_line": 388 - }, - { - "end_outermost_loop": 411, - "end_region_line": 411, - "line": " return [duration, a0, a1, a2, a3, 0, 0]\n", - "lineno": 411, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 411, - "start_region_line": 388 - }, - { - "end_outermost_loop": 412, - "end_region_line": 412, - "line": "\n", - "lineno": 412, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 412, - "start_region_line": 412 - }, - { - "end_outermost_loop": 434, - "end_region_line": 434, - "line": "def generate_linear_polynomial(i, f):\n", - "lineno": 413, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 413, - "start_region_line": 413 - }, - { - "end_outermost_loop": 414, - "end_region_line": 434, - "line": " \"\"\"Generate linear polynomial from two points\n", - "lineno": 414, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 414, - "start_region_line": 413 - }, - { - "end_outermost_loop": 415, - "end_region_line": 434, - "line": "\n", - "lineno": 415, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 415, - "start_region_line": 413 - }, - { - "end_outermost_loop": 416, - "end_region_line": 434, - "line": " Parameters\n", - "lineno": 416, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 416, - "start_region_line": 413 - }, - { - "end_outermost_loop": 417, - "end_region_line": 434, - "line": " ----------\n", - "lineno": 417, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 417, - "start_region_line": 413 - }, - { - "end_outermost_loop": 418, - "end_region_line": 434, - "line": " i : List(float)\n", - "lineno": 418, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 418, - "start_region_line": 413 - }, - { - "end_outermost_loop": 419, - "end_region_line": 434, - "line": " Represents the first waypoint as a list, [time, pos]\n", - "lineno": 419, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 419, - "start_region_line": 413 - }, - { - "end_outermost_loop": 420, - "end_region_line": 434, - "line": " f : List(float)\n", - "lineno": 420, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 420, - "start_region_line": 413 - }, - { - "end_outermost_loop": 421, - "end_region_line": 434, - "line": " Represents the second waypoint as a list, [time, pos]\n", - "lineno": 421, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 421, - "start_region_line": 413 - }, - { - "end_outermost_loop": 422, - "end_region_line": 434, - "line": "\n", - "lineno": 422, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 422, - "start_region_line": 413 - }, - { - "end_outermost_loop": 423, - "end_region_line": 434, - "line": " Returns\n", - "lineno": 423, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 423, - "start_region_line": 413 - }, - { - "end_outermost_loop": 424, - "end_region_line": 434, - "line": " -------\n", - "lineno": 424, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 424, - "start_region_line": 413 - }, - { - "end_outermost_loop": 425, - "end_region_line": 434, - "line": " List(float)\n", - "lineno": 425, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 425, - "start_region_line": 413 - }, - { - "end_outermost_loop": 426, - "end_region_line": 434, - "line": " Represents a linear polynomial as a coefficients + duration array [duration, a0, a1, 0, 0, 0, 0].\n", - "lineno": 426, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 426, - "start_region_line": 413 - }, - { - "end_outermost_loop": 427, - "end_region_line": 434, - "line": " The polynomial is f(t) = a0 + a1*t\n", - "lineno": 427, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 427, - "start_region_line": 413 - }, - { - "end_outermost_loop": 428, - "end_region_line": 434, - "line": " \"\"\"\n", - "lineno": 428, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 428, - "start_region_line": 413 - }, - { - "end_outermost_loop": 429, - "end_region_line": 434, - "line": " i = [float(elem) for elem in i]\n", - "lineno": 429, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 429, - "start_region_line": 413 - }, - { - "end_outermost_loop": 430, - "end_region_line": 434, - "line": " f = [float(elem) for elem in f]\n", - "lineno": 430, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 430, - "start_region_line": 413 - }, - { - "end_outermost_loop": 431, - "end_region_line": 434, - "line": " duration = f[0] - i[0]\n", - "lineno": 431, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 431, - "start_region_line": 413 - }, - { - "end_outermost_loop": 432, - "end_region_line": 434, - "line": " a0 = i[1]\n", - "lineno": 432, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 432, - "start_region_line": 413 - }, - { - "end_outermost_loop": 433, - "end_region_line": 434, - "line": " a1 = (f[1] - i[1]) / duration\n", - "lineno": 433, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 433, - "start_region_line": 413 - }, - { - "end_outermost_loop": 434, - "end_region_line": 434, - "line": " return [duration, a0, a1, 0, 0, 0, 0]\n", - "lineno": 434, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 434, - "start_region_line": 413 - }, - { - "end_outermost_loop": 435, - "end_region_line": 435, - "line": "\n", - "lineno": 435, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 435, - "start_region_line": 435 - }, - { - "end_outermost_loop": 477, - "end_region_line": 477, - "line": "def get_pose_diff(pose0, pose1, translation_atol=2e-3, rotation_atol=2e-2):\n", - "lineno": 436, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 436, - "start_region_line": 436 - }, - { - "end_outermost_loop": 437, - "end_region_line": 477, - "line": " \"\"\"Return the motion required to get from pose 0 to pose 1.\n", - "lineno": 437, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 437, - "start_region_line": 436 - }, - { - "end_outermost_loop": 438, - "end_region_line": 477, - "line": "\n", - "lineno": 438, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 438, - "start_region_line": 436 - }, - { - "end_outermost_loop": 439, - "end_region_line": 477, - "line": " Assumed that between pose 0 and pose 1, there has only been\n", - "lineno": 439, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 439, - "start_region_line": 436 - }, - { - "end_outermost_loop": 440, - "end_region_line": 477, - "line": " either a translation or rotation motion.\n", - "lineno": 440, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 440, - "start_region_line": 436 - }, - { - "end_outermost_loop": 441, - "end_region_line": 477, - "line": "\n", - "lineno": 441, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 441, - "start_region_line": 436 - }, - { - "end_outermost_loop": 442, - "end_region_line": 477, - "line": " Parameters\n", - "lineno": 442, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 442, - "start_region_line": 436 - }, - { - "end_outermost_loop": 443, - "end_region_line": 477, - "line": " ----------\n", - "lineno": 443, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 443, - "start_region_line": 436 - }, - { - "end_outermost_loop": 444, - "end_region_line": 477, - "line": " pose0 : Tuple(float, float, float)\n", - "lineno": 444, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 444, - "start_region_line": 436 - }, - { - "end_outermost_loop": 445, - "end_region_line": 477, - "line": " x, y, theta in meters and radians\n", - "lineno": 445, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 445, - "start_region_line": 436 - }, - { - "end_outermost_loop": 446, - "end_region_line": 477, - "line": " pose1 : Tuple(float, float, float)\n", - "lineno": 446, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 446, - "start_region_line": 436 - }, - { - "end_outermost_loop": 447, - "end_region_line": 477, - "line": " x, y, theta in meters and radians\n", - "lineno": 447, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 447, - "start_region_line": 436 - }, - { - "end_outermost_loop": 448, - "end_region_line": 477, - "line": "\n", - "lineno": 448, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 448, - "start_region_line": 436 - }, - { - "end_outermost_loop": 449, - "end_region_line": 477, - "line": " Returns\n", - "lineno": 449, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 449, - "start_region_line": 436 - }, - { - "end_outermost_loop": 450, - "end_region_line": 477, - "line": " -------\n", - "lineno": 450, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 450, - "start_region_line": 436 - }, - { - "end_outermost_loop": 451, - "end_region_line": 477, - "line": " float, float\n", - "lineno": 451, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 451, - "start_region_line": 436 - }, - { - "end_outermost_loop": 452, - "end_region_line": 477, - "line": " Tuple (dx, dtheta) of translation and rotation required to\n", - "lineno": 452, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 452, - "start_region_line": 436 - }, - { - "end_outermost_loop": 453, - "end_region_line": 477, - "line": " move from pose0 to pose1\n", - "lineno": 453, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 453, - "start_region_line": 436 - }, - { - "end_outermost_loop": 454, - "end_region_line": 477, - "line": " \"\"\"\n", - "lineno": 454, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 454, - "start_region_line": 436 - }, - { - "end_outermost_loop": 455, - "end_region_line": 477, - "line": " x0, y0, theta0 = pose0\n", - "lineno": 455, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 455, - "start_region_line": 436 - }, - { - "end_outermost_loop": 456, - "end_region_line": 477, - "line": " x1, y1, theta1 = pose1\n", - "lineno": 456, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 456, - "start_region_line": 436 - }, - { - "end_outermost_loop": 457, - "end_region_line": 477, - "line": " theta0 = np.arctan2(np.sin(theta0), np.cos(theta0)) # constrains to [-pi, pi]\n", - "lineno": 457, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 457, - "start_region_line": 436 - }, - { - "end_outermost_loop": 458, - "end_region_line": 477, - "line": " theta1 = np.arctan2(np.sin(theta1), np.cos(theta1)) # constrains to [-pi, pi]\n", - "lineno": 458, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 458, - "start_region_line": 436 - }, - { - "end_outermost_loop": 459, - "end_region_line": 477, - "line": "\n", - "lineno": 459, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 459, - "start_region_line": 436 - }, - { - "end_outermost_loop": 477, - "end_region_line": 477, - "line": " # TODO: For now, we use a simplified motion model where we assume\n", - "lineno": 460, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 436, - "start_region_line": 436 - }, - { - "end_outermost_loop": 477, - "end_region_line": 477, - "line": " # that every motion is either a translation OR a rotation,\n", - "lineno": 461, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 436, - "start_region_line": 436 - }, - { - "end_outermost_loop": 477, - "end_region_line": 477, - "line": " # and the translation is either straight forward or straight back\n", - "lineno": 462, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 436, - "start_region_line": 436 - }, - { - "end_outermost_loop": 464, - "end_region_line": 477, - "line": " if np.isclose(x0, x1, atol=translation_atol) and np.isclose(y0, y1, atol=translation_atol):\n", - "lineno": 463, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 463, - "start_region_line": 436 - }, - { - "end_outermost_loop": 464, - "end_region_line": 477, - "line": " return 0.0, theta1 - theta0\n", - "lineno": 464, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 464, - "start_region_line": 436 - }, - { - "end_outermost_loop": 465, - "end_region_line": 477, - "line": "\n", - "lineno": 465, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 465, - "start_region_line": 436 - }, - { - "end_outermost_loop": 475, - "end_region_line": 477, - "line": " if np.isclose(theta0, theta1, atol=rotation_atol):\n", - "lineno": 466, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 466, - "start_region_line": 436 - }, - { - "end_outermost_loop": 467, - "end_region_line": 477, - "line": " dx = x1 - x0\n", - "lineno": 467, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 467, - "start_region_line": 436 - }, - { - "end_outermost_loop": 468, - "end_region_line": 477, - "line": " dy = y1 - y0\n", - "lineno": 468, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 468, - "start_region_line": 436 - }, - { - "end_outermost_loop": 469, - "end_region_line": 477, - "line": " drive_angle = math.atan2(dy, dx)\n", - "lineno": 469, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 469, - "start_region_line": 436 - }, - { - "end_outermost_loop": 470, - "end_region_line": 477, - "line": " distance = math.hypot(dy, dx)\n", - "lineno": 470, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 470, - "start_region_line": 436 - }, - { - "end_outermost_loop": 472, - "end_region_line": 477, - "line": " if np.isclose(drive_angle, theta0, atol=rotation_atol):\n", - "lineno": 471, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 471, - "start_region_line": 436 - }, - { - "end_outermost_loop": 472, - "end_region_line": 477, - "line": " return distance, 0.0\n", - "lineno": 472, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 472, - "start_region_line": 436 - }, - { - "end_outermost_loop": 473, - "end_region_line": 477, - "line": " opposite_theta0 = np.arctan2(np.sin(theta0 + np.pi), np.cos(theta0 + np.pi)) # constrains to [-pi, pi]\n", - "lineno": 473, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 473, - "start_region_line": 436 - }, - { - "end_outermost_loop": 475, - "end_region_line": 477, - "line": " if np.isclose(drive_angle, opposite_theta0, atol=rotation_atol):\n", - "lineno": 474, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 474, - "start_region_line": 436 - }, - { - "end_outermost_loop": 475, - "end_region_line": 477, - "line": " return -distance, 0.0\n", - "lineno": 475, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 475, - "start_region_line": 436 - }, - { - "end_outermost_loop": 476, - "end_region_line": 477, - "line": "\n", - "lineno": 476, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 476, - "start_region_line": 436 - }, - { - "end_outermost_loop": 477, - "end_region_line": 477, - "line": " return 0.0, 0.0\n", - "lineno": 477, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 477, - "start_region_line": 436 - }, - { - "end_outermost_loop": 478, - "end_region_line": 478, - "line": "\n", - "lineno": 478, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 478, - "start_region_line": 478 - }, - { - "end_outermost_loop": 486, - "end_region_line": 486, - "line": "def pseudo_N_to_effort_pct(joint_name,contact_thresh_N):\n", - "lineno": 479, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 479, - "start_region_line": 479 - }, - { - "end_outermost_loop": 480, - "end_region_line": 486, - "line": " import stretch_body.robot_params\n", - "lineno": 480, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 480, - "start_region_line": 479 - }, - { - "end_outermost_loop": 481, - "end_region_line": 486, - "line": " d = stretch_body.robot_params.RobotParams.get_params()[1] #Get complete param dict\n", - "lineno": 481, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 481, - "start_region_line": 479 - }, - { - "end_outermost_loop": 482, - "end_region_line": 486, - "line": " motor_name = {'arm':'hello-motor-arm', 'lift': 'hello-motor-lift', 'base':'hello-motor-left-wheel'}[joint_name]\n", - "lineno": 482, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 482, - "start_region_line": 479 - }, - { - "end_outermost_loop": 483, - "end_region_line": 486, - "line": " i_feedforward = 0 if joint_name =='base' else d[joint_name]['i_feedforward']\n", - "lineno": 483, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 483, - "start_region_line": 479 - }, - { - "end_outermost_loop": 484, - "end_region_line": 486, - "line": " iMax_name = 'iMax_neg' if contact_thresh_N\\u003c0 else 'iMax_pos'\n", - "lineno": 484, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 484, - "start_region_line": 479 - }, - { - "end_outermost_loop": 485, - "end_region_line": 486, - "line": " contact_A = (contact_thresh_N / d[joint_name]['force_N_per_A'])+i_feedforward\n", - "lineno": 485, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 485, - "start_region_line": 479 - }, - { - "end_outermost_loop": 486, - "end_region_line": 486, - "line": " return 100*contact_A / abs(d[motor_name]['gains'][iMax_name])\n", - "lineno": 486, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 486, - "start_region_line": 479 - }, - { - "end_outermost_loop": 487, - "end_region_line": 487, - "line": "\n", - "lineno": 487, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 487, - "start_region_line": 487 - }, - { - "end_outermost_loop": 488, - "end_region_line": 488, - "line": "\n", - "lineno": 488, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 488, - "start_region_line": 488 - }, - { - "end_outermost_loop": 513, - "end_region_line": 513, - "line": "def check_deprecated_contact_model_base(joint,method_name, contact_thresh_N,contact_thresh ):\n", - "lineno": 489, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 489, - "start_region_line": 489 - }, - { - "end_outermost_loop": 490, - "end_region_line": 513, - "line": " \"\"\"\n", - "lineno": 490, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 490, - "start_region_line": 489 - }, - { - "end_outermost_loop": 491, - "end_region_line": 513, - "line": " With RE2 we are transitioning entire stretch fleet to use new API (and effort_pct for the contact model)\n", - "lineno": 491, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 491, - "start_region_line": 489 - }, - { - "end_outermost_loop": 492, - "end_region_line": 513, - "line": " Catch older code that is using the older API and require updating of code\n", - "lineno": 492, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 492, - "start_region_line": 489 - }, - { - "end_outermost_loop": 493, - "end_region_line": 513, - "line": " \"\"\"\n", - "lineno": 493, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 493, - "start_region_line": 489 - }, - { - "end_outermost_loop": 494, - "end_region_line": 513, - "line": "\n", - "lineno": 494, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 494, - "start_region_line": 489 - }, - { - "end_outermost_loop": 513, - "end_region_line": 513, - "line": " #Check if old parameters still found in YAML\n", - "lineno": 495, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 489, - "start_region_line": 489 - }, - { - "end_outermost_loop": 503, - "end_region_line": 513, - "line": " if ('contact_thresh_max_N' in joint.params) or ('contact_thresh_N' in joint.params):\n", - "lineno": 496, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 496, - "start_region_line": 489 - }, - { - "end_outermost_loop": 497, - "end_region_line": 513, - "line": " msg=\"Robot is using out-of-date contact parameters\"\n", - "lineno": 497, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 497, - "start_region_line": 489 - }, - { - "end_outermost_loop": 498, - "end_region_line": 513, - "line": " msg=msg+'Please run tool RE1_migrate_contacts.py before continuing.\\n'\n", - "lineno": 498, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 498, - "start_region_line": 489 - }, - { - "end_outermost_loop": 499, - "end_region_line": 513, - "line": " msg=msg+'For more details, see https://forum.hello-robot.com/t/476 \\n'\n", - "lineno": 499, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 499, - "start_region_line": 489 - }, - { - "end_outermost_loop": 500, - "end_region_line": 513, - "line": " msg = msg + 'In method %s.%s' % (joint.name, method_name)\n", - "lineno": 500, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 500, - "start_region_line": 489 - }, - { - "end_outermost_loop": 501, - "end_region_line": 513, - "line": " print(msg)\n", - "lineno": 501, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 501, - "start_region_line": 489 - }, - { - "end_outermost_loop": 502, - "end_region_line": 513, - "line": " joint.logger.error(msg)\n", - "lineno": 502, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 502, - "start_region_line": 489 - }, - { - "end_outermost_loop": 503, - "end_region_line": 513, - "line": " sys.exit(1)\n", - "lineno": 503, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 503, - "start_region_line": 489 - }, - { - "end_outermost_loop": 504, - "end_region_line": 513, - "line": "\n", - "lineno": 504, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 504, - "start_region_line": 489 - }, - { - "end_outermost_loop": 513, - "end_region_line": 513, - "line": " #Check if code is passing in old values\n", - "lineno": 505, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 489, - "start_region_line": 489 - }, - { - "end_outermost_loop": 513, - "end_region_line": 513, - "line": " if contact_thresh_N is not None:\n", - "lineno": 506, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 506, - "start_region_line": 489 - }, - { - "end_outermost_loop": 507, - "end_region_line": 513, - "line": " msg='Use of parameter contact_thresh_N is no longer supported\\n'\n", - "lineno": 507, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 489 - }, - { - "end_outermost_loop": 508, - "end_region_line": 513, - "line": " msg= msg + 'Update your code to use (contact_thresh)\\n'\n", - "lineno": 508, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 508, - "start_region_line": 489 - }, - { - "end_outermost_loop": 509, - "end_region_line": 513, - "line": " msg = msg + 'For more details, see https://forum.hello-robot.com/t/476\\n'\n", - "lineno": 509, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 509, - "start_region_line": 489 - }, - { - "end_outermost_loop": 510, - "end_region_line": 513, - "line": " msg=msg+'In method %s.%s'%(joint.name,method_name)\n", - "lineno": 510, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 510, - "start_region_line": 489 - }, - { - "end_outermost_loop": 511, - "end_region_line": 513, - "line": " print(msg)\n", - "lineno": 511, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 511, - "start_region_line": 489 - }, - { - "end_outermost_loop": 512, - "end_region_line": 513, - "line": " joint.logger.error(msg)\n", - "lineno": 512, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 512, - "start_region_line": 489 - }, - { - "end_outermost_loop": 513, - "end_region_line": 513, - "line": " sys.exit(1)\n", - "lineno": 513, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 513, - "start_region_line": 489 - }, - { - "end_outermost_loop": 514, - "end_region_line": 514, - "line": "\n", - "lineno": 514, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 514, - "start_region_line": 514 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": "def check_deprecated_contact_model_prismatic_joint(joint,method_name, contact_thresh_pos_N,contact_thresh_neg_N,contact_thresh_pos,contact_thresh_neg ):\n", - "lineno": 515, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 515 - }, - { - "end_outermost_loop": 516, - "end_region_line": 558, - "line": " \"\"\"\n", - "lineno": 516, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 516, - "start_region_line": 515 - }, - { - "end_outermost_loop": 517, - "end_region_line": 558, - "line": " With RE2 we are transitioning entire stretch fleet to use new API (and effort_pct for the contact model)\n", - "lineno": 517, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 517, - "start_region_line": 515 - }, - { - "end_outermost_loop": 518, - "end_region_line": 558, - "line": " Catch older code that is using the older API and require updating of code\n", - "lineno": 518, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 518, - "start_region_line": 515 - }, - { - "end_outermost_loop": 519, - "end_region_line": 558, - "line": " For code that was, for example:\n", - "lineno": 519, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 519, - "start_region_line": 515 - }, - { - "end_outermost_loop": 520, - "end_region_line": 558, - "line": " arm.move_to(x_m=0.1, contact_thresh_pos_N=30.0, contact_thresh_neg_N=-30.0)\n", - "lineno": 520, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 520, - "start_region_line": 515 - }, - { - "end_outermost_loop": 521, - "end_region_line": 558, - "line": " Should now be:\n", - "lineno": 521, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 521, - "start_region_line": 515 - }, - { - "end_outermost_loop": 522, - "end_region_line": 558, - "line": " arm.move_to(x_m=0.1, contact_thresh_pos=pseudo_N_to_effort_pct(30.0),\n", - "lineno": 522, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 522, - "start_region_line": 515 - }, - { - "end_outermost_loop": 523, - "end_region_line": 558, - "line": " contact_thresh_neg=pseudo_N_to_effort_pct(-30.0))\n", - "lineno": 523, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 523, - "start_region_line": 515 - }, - { - "end_outermost_loop": 524, - "end_region_line": 558, - "line": " \"\"\"\n", - "lineno": 524, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 524, - "start_region_line": 515 - }, - { - "end_outermost_loop": 525, - "end_region_line": 558, - "line": "\n", - "lineno": 525, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 525, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " #Check if old parameters still found in YAML\n", - "lineno": 526, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 515 - }, - { - "end_outermost_loop": 534, - "end_region_line": 558, - "line": " if ('contact_thresh_max_N' in joint.params) or ('contact_thresh_N' in joint.params) or ('homing_force_N' in joint.params):\n", - "lineno": 527, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 527, - "start_region_line": 515 - }, - { - "end_outermost_loop": 528, - "end_region_line": 558, - "line": " msg=\"Robot is using out-of-date contact parameters\\n\"\n", - "lineno": 528, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 528, - "start_region_line": 515 - }, - { - "end_outermost_loop": 529, - "end_region_line": 558, - "line": " msg=msg+'Please run tool RE1_migrate_contacts.py before continuing.\\n'\n", - "lineno": 529, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 529, - "start_region_line": 515 - }, - { - "end_outermost_loop": 530, - "end_region_line": 558, - "line": " msg=msg+'For more details, see https://forum.hello-robot.com/t/476 \\n'\n", - "lineno": 530, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 530, - "start_region_line": 515 - }, - { - "end_outermost_loop": 531, - "end_region_line": 558, - "line": " msg = msg + 'In method %s.%s' % (joint.name, method_name)\n", - "lineno": 531, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 531, - "start_region_line": 515 - }, - { - "end_outermost_loop": 532, - "end_region_line": 558, - "line": " print(msg)\n", - "lineno": 532, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 515 - }, - { - "end_outermost_loop": 533, - "end_region_line": 558, - "line": " joint.logger.error(msg)\n", - "lineno": 533, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 533, - "start_region_line": 515 - }, - { - "end_outermost_loop": 534, - "end_region_line": 558, - "line": " sys.exit(1)\n", - "lineno": 534, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 534, - "start_region_line": 515 - }, - { - "end_outermost_loop": 535, - "end_region_line": 558, - "line": "\n", - "lineno": 535, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 535, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " #Check if code is passing in old values\n", - "lineno": 536, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 515 - }, - { - "end_outermost_loop": 544, - "end_region_line": 558, - "line": " if contact_thresh_pos_N is not None or contact_thresh_neg_N is not None:\n", - "lineno": 537, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 537, - "start_region_line": 515 - }, - { - "end_outermost_loop": 538, - "end_region_line": 558, - "line": " msg='Use of parameters contact_thresh_pos_N and contact_thresh_neg_N is no longer supported\\n'\n", - "lineno": 538, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 538, - "start_region_line": 515 - }, - { - "end_outermost_loop": 539, - "end_region_line": 558, - "line": " msg= msg + 'Update your code to use (contact_thresh_pos, contact_thresh_neg)\\n'\n", - "lineno": 539, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 539, - "start_region_line": 515 - }, - { - "end_outermost_loop": 540, - "end_region_line": 558, - "line": " msg = msg + 'For more details, see https://forum.hello-robot.com/t/476\\n'\n", - "lineno": 540, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 540, - "start_region_line": 515 - }, - { - "end_outermost_loop": 541, - "end_region_line": 558, - "line": " msg=msg+'In method %s.%s'%(joint.name,method_name)\n", - "lineno": 541, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 541, - "start_region_line": 515 - }, - { - "end_outermost_loop": 542, - "end_region_line": 558, - "line": " print(msg)\n", - "lineno": 542, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 542, - "start_region_line": 515 - }, - { - "end_outermost_loop": 543, - "end_region_line": 558, - "line": " joint.logger.error(msg)\n", - "lineno": 543, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 543, - "start_region_line": 515 - }, - { - "end_outermost_loop": 544, - "end_region_line": 558, - "line": " sys.exit(1)\n", - "lineno": 544, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 544, - "start_region_line": 515 - }, - { - "end_outermost_loop": 545, - "end_region_line": 558, - "line": "\n", - "lineno": 545, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 545, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " #Check if code is passing in new values but not yet migrated\n", - "lineno": 546, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " if contact_thresh_pos is not None or contact_thresh_neg is not None \\\n", - "lineno": 547, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 547, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " or (contact_thresh_pos is None and contact_thresh_neg is None):\n", - "lineno": 548, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 547, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " if ('contact_models' not in joint.params) or ('effort_pct' not in joint.params['contact_models']) or\\\n", - "lineno": 549, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 549, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " ('contact_thresh_default' not in joint.params['contact_models']['effort_pct']) or\\\n", - "lineno": 550, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 549, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " ('contact_thresh_homing' not in joint.params['contact_models']['effort_pct']) :\n", - "lineno": 551, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 549, - "start_region_line": 515 - }, - { - "end_outermost_loop": 552, - "end_region_line": 558, - "line": " msg='Effort_Pct contact parameters not available\\n'\n", - "lineno": 552, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 552, - "start_region_line": 515 - }, - { - "end_outermost_loop": 553, - "end_region_line": 558, - "line": " msg = msg + 'Please run tool RE1_migrate_contacts.py before continuing.\\n'\n", - "lineno": 553, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 553, - "start_region_line": 515 - }, - { - "end_outermost_loop": 554, - "end_region_line": 558, - "line": " msg = msg + 'For more details, see https://forum.hello-robot.com/t/476 \\n'\n", - "lineno": 554, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 554, - "start_region_line": 515 - }, - { - "end_outermost_loop": 555, - "end_region_line": 558, - "line": " msg=msg+'In method %s.%s'%(joint.name,method_name)\n", - "lineno": 555, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 555, - "start_region_line": 515 - }, - { - "end_outermost_loop": 556, - "end_region_line": 558, - "line": " print(msg)\n", - "lineno": 556, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 556, - "start_region_line": 515 - }, - { - "end_outermost_loop": 557, - "end_region_line": 558, - "line": " joint.logger.error(msg)\n", - "lineno": 557, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 515 - }, - { - "end_outermost_loop": 558, - "end_region_line": 558, - "line": " sys.exit(1)\n", - "lineno": 558, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 558, - "start_region_line": 515 - }, - { - "end_outermost_loop": 559, - "end_region_line": 559, - "line": "\n", - "lineno": 559, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 559, - "start_region_line": 559 - }, - { - "end_outermost_loop": 565, - "end_region_line": 565, - "line": "def check_file_exists(fn):\n", - "lineno": 560, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 560, - "start_region_line": 560 - }, - { - "end_outermost_loop": 565, - "end_region_line": 565, - "line": " if os.path.exists(fn):\n", - "lineno": 561, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 561, - "start_region_line": 560 - }, - { - "end_outermost_loop": 562, - "end_region_line": 565, - "line": " return True\n", - "lineno": 562, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 562, - "start_region_line": 560 - }, - { - "end_outermost_loop": 565, - "end_region_line": 565, - "line": " else:\n", - "lineno": 563, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 561, - "start_region_line": 560 - }, - { - "end_outermost_loop": 564, - "end_region_line": 565, - "line": " print(f\"Unable to find file: {fn}\")\n", - "lineno": 564, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 564, - "start_region_line": 560 - }, - { - "end_outermost_loop": 565, - "end_region_line": 565, - "line": " return False\n", - "lineno": 565, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 560 - }, - { - "end_outermost_loop": 566, - "end_region_line": 566, - "line": "\n", - "lineno": 566, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 566, - "start_region_line": 566 - }, - { - "end_outermost_loop": 571, - "end_region_line": 571, - "line": "def to_parabola_transform(x):\n", - "lineno": 567, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 567, - "start_region_line": 567 - }, - { - "end_outermost_loop": 571, - "end_region_line": 571, - "line": " if x\\u003c0:\n", - "lineno": 568, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 568, - "start_region_line": 567 - }, - { - "end_outermost_loop": 569, - "end_region_line": 571, - "line": " return -1*(abs(x)**2)\n", - "lineno": 569, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 569, - "start_region_line": 567 - }, - { - "end_outermost_loop": 571, - "end_region_line": 571, - "line": " else:\n", - "lineno": 570, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 568, - "start_region_line": 567 - }, - { - "end_outermost_loop": 571, - "end_region_line": 571, - "line": " return x**2\n", - "lineno": 571, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 571, - "start_region_line": 567 - }, - { - "end_outermost_loop": 572, - "end_region_line": 572, - "line": "\n", - "lineno": 572, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 572, - "start_region_line": 572 - }, - { - "end_outermost_loop": 577, - "end_region_line": 577, - "line": "def map_to_range(value, new_min, new_max):\n", - "lineno": 573, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 573, - "start_region_line": 573 - }, - { - "end_outermost_loop": 577, - "end_region_line": 577, - "line": " # Ensure value is between 0 and 1\n", - "lineno": 574, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 573, - "start_region_line": 573 - }, - { - "end_outermost_loop": 575, - "end_region_line": 577, - "line": " value = max(0, min(1, value))\n", - "lineno": 575, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 575, - "start_region_line": 573 - }, - { - "end_outermost_loop": 576, - "end_region_line": 577, - "line": " mapped_value = (value - 0) * (new_max - new_min) / (1 - 0) + new_min\n", - "lineno": 576, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 576, - "start_region_line": 573 - }, - { - "end_outermost_loop": 577, - "end_region_line": 577, - "line": " return mapped_value\n", - "lineno": 577, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 577, - "start_region_line": 573 - }, - { - "end_outermost_loop": 578, - "end_region_line": 578, - "line": "\n", - "lineno": 578, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 578, - "start_region_line": 578 - }, - { - "end_outermost_loop": 603, - "end_region_line": 603, - "line": "def get_video_devices():\n", - "lineno": 579, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 579, - "start_region_line": 579 - }, - { - "end_outermost_loop": 580, - "end_region_line": 603, - "line": " \"\"\"\n", - "lineno": 580, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 580, - "start_region_line": 579 - }, - { - "end_outermost_loop": 581, - "end_region_line": 603, - "line": " Returns dictionary of all the enumerated video devices found in the robot \n", - "lineno": 581, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 581, - "start_region_line": 579 - }, - { - "end_outermost_loop": 582, - "end_region_line": 603, - "line": " \"\"\"\n", - "lineno": 582, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 582, - "start_region_line": 579 - }, - { - "end_outermost_loop": 583, - "end_region_line": 603, - "line": " command = 'v4l2-ctl --list-devices'\n", - "lineno": 583, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 583, - "start_region_line": 579 - }, - { - "end_outermost_loop": 584, - "end_region_line": 603, - "line": " lines = subprocess.getoutput(command).split('\\n')\n", - "lineno": 584, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 584, - "start_region_line": 579 - }, - { - "end_outermost_loop": 585, - "end_region_line": 603, - "line": " lines = [l.strip() for l in lines if l != '']\n", - "lineno": 585, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 585, - "start_region_line": 579 - }, - { - "end_outermost_loop": 586, - "end_region_line": 603, - "line": " cameras = [l for l in lines if not ('/dev/' in l)]\n", - "lineno": 586, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 586, - "start_region_line": 579 - }, - { - "end_outermost_loop": 587, - "end_region_line": 603, - "line": " devices = [l for l in lines if '/dev/' in l]\n", - "lineno": 587, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 587, - "start_region_line": 579 - }, - { - "end_outermost_loop": 588, - "end_region_line": 603, - "line": "\n", - "lineno": 588, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 588, - "start_region_line": 579 - }, - { - "end_outermost_loop": 589, - "end_region_line": 603, - "line": " all_camera_devices = {}\n", - "lineno": 589, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 589, - "start_region_line": 579 - }, - { - "end_outermost_loop": 590, - "end_region_line": 603, - "line": " camera_devices = []\n", - "lineno": 590, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 590, - "start_region_line": 579 - }, - { - "end_outermost_loop": 591, - "end_region_line": 603, - "line": " current_camera = None\n", - "lineno": 591, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 579 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " for line in lines:\n", - "lineno": 592, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " if line in cameras:\n", - "lineno": 593, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " if (current_camera is not None) and camera_devices:\n", - "lineno": 594, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " all_camera_devices[current_camera] = camera_devices\n", - "lineno": 595, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " camera_devices = []\n", - "lineno": 596, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " current_camera = line\n", - "lineno": 597, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " elif line in devices:\n", - "lineno": 598, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 599, - "end_region_line": 599, - "line": " camera_devices.append(line)\n", - "lineno": 599, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 592, - "start_region_line": 592 - }, - { - "end_outermost_loop": 601, - "end_region_line": 603, - "line": " if (current_camera is not None) and camera_devices:\n", - "lineno": 600, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 600, - "start_region_line": 579 - }, - { - "end_outermost_loop": 601, - "end_region_line": 603, - "line": " all_camera_devices[current_camera] = camera_devices\n", - "lineno": 601, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 601, - "start_region_line": 579 - }, - { - "end_outermost_loop": 602, - "end_region_line": 603, - "line": "\n", - "lineno": 602, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 602, - "start_region_line": 579 - }, - { - "end_outermost_loop": 603, - "end_region_line": 603, - "line": " return all_camera_devices\n", - "lineno": 603, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 603, - "start_region_line": 579 - }, - { - "end_outermost_loop": 604, - "end_region_line": 604, - "line": "\n", - "lineno": 604, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 604, - "start_region_line": 604 - }, - { - "end_outermost_loop": 619, - "end_region_line": 619, - "line": "def setup_realsense_camera(serial_number, color_size, depth_size, fps):\n", - "lineno": 605, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 605, - "start_region_line": 605 - }, - { - "end_outermost_loop": 606, - "end_region_line": 619, - "line": " \"\"\"\n", - "lineno": 606, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 606, - "start_region_line": 605 - }, - { - "end_outermost_loop": 607, - "end_region_line": 619, - "line": " Returns a Realsense camera pipeline used for accessing D435i \\u0026 D405's video streams\n", - "lineno": 607, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 607, - "start_region_line": 605 - }, - { - "end_outermost_loop": 608, - "end_region_line": 619, - "line": " \"\"\"\n", - "lineno": 608, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 608, - "start_region_line": 605 - }, - { - "end_outermost_loop": 609, - "end_region_line": 619, - "line": " pipeline = rs.pipeline()\n", - "lineno": 609, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 609, - "start_region_line": 605 - }, - { - "end_outermost_loop": 610, - "end_region_line": 619, - "line": " config = rs.config()\n", - "lineno": 610, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 610, - "start_region_line": 605 - }, - { - "end_outermost_loop": 611, - "end_region_line": 619, - "line": "\n", - "lineno": 611, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 611, - "start_region_line": 605 - }, - { - "end_outermost_loop": 613, - "end_region_line": 619, - "line": " if serial_number:\n", - "lineno": 612, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 612, - "start_region_line": 605 - }, - { - "end_outermost_loop": 613, - "end_region_line": 619, - "line": " config.enable_device(serial_number)\n", - "lineno": 613, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 613, - "start_region_line": 605 - }, - { - "end_outermost_loop": 614, - "end_region_line": 619, - "line": "\n", - "lineno": 614, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 614, - "start_region_line": 605 - }, - { - "end_outermost_loop": 615, - "end_region_line": 619, - "line": " config.enable_stream(rs.stream.color, color_size[0], color_size[1], rs.format.bgr8, fps)\n", - "lineno": 615, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 615, - "start_region_line": 605 - }, - { - "end_outermost_loop": 616, - "end_region_line": 619, - "line": " config.enable_stream(rs.stream.depth, depth_size[0], depth_size[1], rs.format.z16, fps)\n", - "lineno": 616, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 616, - "start_region_line": 605 - }, - { - "end_outermost_loop": 617, - "end_region_line": 619, - "line": "\n", - "lineno": 617, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 617, - "start_region_line": 605 - }, - { - "end_outermost_loop": 618, - "end_region_line": 619, - "line": " profile = pipeline.start(config)\n", - "lineno": 618, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 618, - "start_region_line": 605 - }, - { - "end_outermost_loop": 619, - "end_region_line": 619, - "line": " return pipeline\n", - "lineno": 619, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 619, - "start_region_line": 605 - }, - { - "end_outermost_loop": 620, - "end_region_line": 620, - "line": "\n", - "lineno": 620, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 620, - "start_region_line": 620 - }, - { - "end_outermost_loop": 634, - "end_region_line": 634, - "line": "def setup_uvc_camera(device_index, size=None, fps=None, format = None):\n", - "lineno": 621, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 621, - "start_region_line": 621 - }, - { - "end_outermost_loop": 622, - "end_region_line": 634, - "line": " \"\"\"\n", - "lineno": 622, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 622, - "start_region_line": 621 - }, - { - "end_outermost_loop": 623, - "end_region_line": 634, - "line": " Returns Opencv capture object of the UVC video divice\n", - "lineno": 623, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 621 - }, - { - "end_outermost_loop": 624, - "end_region_line": 634, - "line": " \"\"\"\n", - "lineno": 624, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 624, - "start_region_line": 621 - }, - { - "end_outermost_loop": 625, - "end_region_line": 634, - "line": " cap = cv2.VideoCapture(device_index)\n", - "lineno": 625, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 625, - "start_region_line": 621 - }, - { - "end_outermost_loop": 628, - "end_region_line": 634, - "line": " if format:\n", - "lineno": 626, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 626, - "start_region_line": 621 - }, - { - "end_outermost_loop": 627, - "end_region_line": 634, - "line": " fourcc_value = cv2.VideoWriter_fourcc(*f'{format}')\n", - "lineno": 627, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 627, - "start_region_line": 621 - }, - { - "end_outermost_loop": 628, - "end_region_line": 634, - "line": " cap.set(cv2.CAP_PROP_FOURCC, fourcc_value)\n", - "lineno": 628, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 628, - "start_region_line": 621 - }, - { - "end_outermost_loop": 631, - "end_region_line": 634, - "line": " if size:\n", - "lineno": 629, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 629, - "start_region_line": 621 - }, - { - "end_outermost_loop": 630, - "end_region_line": 634, - "line": " cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0])\n", - "lineno": 630, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 630, - "start_region_line": 621 - }, - { - "end_outermost_loop": 631, - "end_region_line": 634, - "line": " cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1])\n", - "lineno": 631, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 631, - "start_region_line": 621 - }, - { - "end_outermost_loop": 633, - "end_region_line": 634, - "line": " if fps:\n", - "lineno": 632, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 632, - "start_region_line": 621 - }, - { - "end_outermost_loop": 633, - "end_region_line": 634, - "line": " cap.set(cv2.CAP_PROP_FPS, fps)\n", - "lineno": 633, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 633, - "start_region_line": 621 - }, - { - "end_outermost_loop": 634, - "end_region_line": 634, - "line": " return cap\n", - "lineno": 634, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 634, - "start_region_line": 621 - }, - { - "end_outermost_loop": 635, - "end_region_line": 635, - "line": "\n", - "lineno": 635, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 635, - "start_region_line": 635 - }, - { - "end_outermost_loop": 648, - "end_region_line": 648, - "line": "def get_video_device_port(camera_name):\n", - "lineno": 636, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 636, - "start_region_line": 636 - }, - { - "end_outermost_loop": 637, - "end_region_line": 648, - "line": " \"\"\"\n", - "lineno": 637, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 637, - "start_region_line": 636 - }, - { - "end_outermost_loop": 638, - "end_region_line": 648, - "line": " Returns the video device port based on the given camera name match\n", - "lineno": 638, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 638, - "start_region_line": 636 - }, - { - "end_outermost_loop": 639, - "end_region_line": 648, - "line": " \"\"\"\n", - "lineno": 639, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 639, - "start_region_line": 636 - }, - { - "end_outermost_loop": 640, - "end_region_line": 648, - "line": " camera_devices = get_video_devices()\n", - "lineno": 640, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 640, - "start_region_line": 636 - }, - { - "end_outermost_loop": 641, - "end_region_line": 648, - "line": " camera_device = None\n", - "lineno": 641, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 641, - "start_region_line": 636 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " for k,v in camera_devices.items():\n", - "lineno": 642, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 642 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " if camera_name in k:\n", - "lineno": 643, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 642 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " camera_device = v[0]\n", - "lineno": 644, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 642 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " print(f\"Found Camera={k} at port={camera_device} \")\n", - "lineno": 645, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 642 - }, - { - "end_outermost_loop": 646, - "end_region_line": 646, - "line": " return camera_device\n", - "lineno": 646, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 642 - }, - { - "end_outermost_loop": 647, - "end_region_line": 648, - "line": " print('ERROR: Did not find the specified camera_name = ' + str(camera_name))\n", - "lineno": 647, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 647, - "start_region_line": 636 - }, - { - "end_outermost_loop": 648, - "end_region_line": 648, - "line": " return camera_device", - "lineno": 648, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 648, - "start_region_line": 636 - } - ], - "percent_cpu_time": 0.0 - }, - "/home/hello-robot/repos/stretch_body/body/stretch_body/robot_collision.py": { - "functions": [], - "imports": [ - "import numpy as np", - "import time", - "import threading", - "import chime", - "import random", - "import signal" - ], - "leaks": {}, - "lines": [ - { - "end_outermost_loop": 1, - "end_region_line": 1, - "line": "#! /usr/bin/env python\n", - "lineno": 1, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 1, - "start_region_line": 1 - }, - { - "end_outermost_loop": 2, - "end_region_line": 2, - "line": "\n", - "lineno": 2, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 2, - "start_region_line": 2 - }, - { - "end_outermost_loop": 3, - "end_region_line": 3, - "line": "from stretch_body.device import Device\n", - "lineno": 3, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 3, - "start_region_line": 3 - }, - { - "end_outermost_loop": 4, - "end_region_line": 4, - "line": "import urchin as urdf_loader\n", - "lineno": 4, - "memory_samples": [ - [ - 889626981, - 20.2229585647583 - ], - [ - 1035184185, - 30.317264556884766 - ], - [ - 1238993851, - 40.41176986694336 - ] - ], - "n_avg_mb": 0.0, - "n_copy_mb_s": 460.97560396455555, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 30.000483512878418, - "n_malloc_mb": 30.000483512878418, - "n_mallocs": 0, - "n_peak_mb": 30.000483512878418, - "n_python_fraction": 0.986854335005924, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.599563241008711, - "start_outermost_loop": 4, - "start_region_line": 4 - }, - { - "end_outermost_loop": 5, - "end_region_line": 5, - "line": "import meshio\n", - "lineno": 5, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 5, - "start_region_line": 5 - }, - { - "end_outermost_loop": 6, - "end_region_line": 6, - "line": "import numpy as np\n", - "lineno": 6, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 6, - "start_region_line": 6 - }, - { - "end_outermost_loop": 7, - "end_region_line": 7, - "line": "import time\n", - "lineno": 7, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 7, - "start_region_line": 7 - }, - { - "end_outermost_loop": 8, - "end_region_line": 8, - "line": "import threading\n", - "lineno": 8, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 8, - "start_region_line": 8 - }, - { - "end_outermost_loop": 9, - "end_region_line": 9, - "line": "import chime\n", - "lineno": 9, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 9, - "start_region_line": 9 - }, - { - "end_outermost_loop": 10, - "end_region_line": 10, - "line": "import random\n", - "lineno": 10, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 10, - "start_region_line": 10 - }, - { - "end_outermost_loop": 11, - "end_region_line": 11, - "line": "from stretch_body.robot_params import RobotParams\n", - "lineno": 11, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 11, - "start_region_line": 11 - }, - { - "end_outermost_loop": 12, - "end_region_line": 12, - "line": "import multiprocessing\n", - "lineno": 12, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 12, - "start_region_line": 12 - }, - { - "end_outermost_loop": 13, - "end_region_line": 13, - "line": "import signal\n", - "lineno": 13, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 13, - "start_region_line": 13 - }, - { - "end_outermost_loop": 14, - "end_region_line": 14, - "line": "import ctypes\n", - "lineno": 14, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 14, - "start_region_line": 14 - }, - { - "end_outermost_loop": 15, - "end_region_line": 15, - "line": "\n", - "lineno": 15, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 15, - "start_region_line": 15 - }, - { - "end_outermost_loop": 16, - "end_region_line": 16, - "line": "try:\n", - "lineno": 16, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 16, - "start_region_line": 16 - }, - { - "end_outermost_loop": 17, - "end_region_line": 17, - "line": " # works on ubunut 22.04\n", - "lineno": 17, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 17, - "start_region_line": 17 - }, - { - "end_outermost_loop": 18, - "end_region_line": 18, - "line": " import importlib.resources as importlib_resources\n", - "lineno": 18, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 18, - "start_region_line": 18 - }, - { - "end_outermost_loop": 19, - "end_region_line": 19, - "line": " str(importlib_resources.files(\"stretch_body\"))\n", - "lineno": 19, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 19, - "start_region_line": 19 - }, - { - "end_outermost_loop": 20, - "end_region_line": 20, - "line": "except AttributeError as e:\n", - "lineno": 20, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 20, - "start_region_line": 20 - }, - { - "end_outermost_loop": 21, - "end_region_line": 21, - "line": " # works on ubuntu 20.04\n", - "lineno": 21, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 21, - "start_region_line": 21 - }, - { - "end_outermost_loop": 22, - "end_region_line": 22, - "line": " import importlib_resources\n", - "lineno": 22, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 22, - "start_region_line": 22 - }, - { - "end_outermost_loop": 23, - "end_region_line": 23, - "line": " str(importlib_resources.files(\"stretch_body\"))\n", - "lineno": 23, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 23, - "start_region_line": 23 - }, - { - "end_outermost_loop": 24, - "end_region_line": 24, - "line": "\n", - "lineno": 24, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 24, - "start_region_line": 24 - }, - { - "end_outermost_loop": 25, - "end_region_line": 25, - "line": "# #######################################################################\n", - "lineno": 25, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 25, - "start_region_line": 25 - }, - { - "end_outermost_loop": 26, - "end_region_line": 26, - "line": "\n", - "lineno": 26, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 26, - "start_region_line": 26 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": "def line_box_sat_intersection(line_point1, line_point2, aabb_min, aabb_max):\n", - "lineno": 27, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 27, - "start_region_line": 27 - }, - { - "end_outermost_loop": 28, - "end_region_line": 62, - "line": " \"\"\"\n", - "lineno": 28, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 28, - "start_region_line": 27 - }, - { - "end_outermost_loop": 29, - "end_region_line": 62, - "line": " Checks if a line segment intersects an AABB using the Separating Axis Theorem (SAT).\n", - "lineno": 29, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 29, - "start_region_line": 27 - }, - { - "end_outermost_loop": 30, - "end_region_line": 62, - "line": "\n", - "lineno": 30, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 30, - "start_region_line": 27 - }, - { - "end_outermost_loop": 31, - "end_region_line": 62, - "line": " Args:\n", - "lineno": 31, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 31, - "start_region_line": 27 - }, - { - "end_outermost_loop": 32, - "end_region_line": 62, - "line": " line_point1: np.array of shape (3,). First point of the line segment.\n", - "lineno": 32, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 32, - "start_region_line": 27 - }, - { - "end_outermost_loop": 33, - "end_region_line": 62, - "line": " line_point2: np.array of shape (3,). Second point of the line segment.\n", - "lineno": 33, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 33, - "start_region_line": 27 - }, - { - "end_outermost_loop": 34, - "end_region_line": 62, - "line": " aabb_min: np.array of shape (3,). Minimum corner of the AABB.\n", - "lineno": 34, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 34, - "start_region_line": 27 - }, - { - "end_outermost_loop": 35, - "end_region_line": 62, - "line": " aabb_max: np.array of shape (3,). Maximum corner of the AABB.\n", - "lineno": 35, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 35, - "start_region_line": 27 - }, - { - "end_outermost_loop": 36, - "end_region_line": 62, - "line": "\n", - "lineno": 36, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 36, - "start_region_line": 27 - }, - { - "end_outermost_loop": 37, - "end_region_line": 62, - "line": " Returns:\n", - "lineno": 37, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 37, - "start_region_line": 27 - }, - { - "end_outermost_loop": 38, - "end_region_line": 62, - "line": " bool: True if the line intersects the AABB, False otherwise.\n", - "lineno": 38, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 38, - "start_region_line": 27 - }, - { - "end_outermost_loop": 39, - "end_region_line": 62, - "line": " \"\"\"\n", - "lineno": 39, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 39, - "start_region_line": 27 - }, - { - "end_outermost_loop": 40, - "end_region_line": 62, - "line": "\n", - "lineno": 40, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 40, - "start_region_line": 27 - }, - { - "end_outermost_loop": 41, - "end_region_line": 62, - "line": " line_dir = line_point2 - line_point1\n", - "lineno": 41, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 41, - "start_region_line": 27 - }, - { - "end_outermost_loop": 42, - "end_region_line": 62, - "line": "\n", - "lineno": 42, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 42, - "start_region_line": 27 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": " # Check separating axes along AABB's edges\n", - "lineno": 43, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 27, - "start_region_line": 27 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " for i in range(3):\n", - "lineno": 44, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " # Project line segment onto axis\n", - "lineno": 45, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " line_proj = np.dot(line_point1, np.eye(3)[i]) + np.dot(line_dir, np.eye(3)[i])\n", - "lineno": 46, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " aabb_proj = np.array([aabb_min[i], aabb_max[i]])\n", - "lineno": 47, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": "\n", - "lineno": 48, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " # Check for overlap\n", - "lineno": 49, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " if not (np.min(line_proj) \\u003c= np.max(aabb_proj) and np.max(line_proj) \\u003e= np.min(aabb_proj)):\n", - "lineno": 50, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 51, - "end_region_line": 51, - "line": " return False # No overlap on this axis\n", - "lineno": 51, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 44, - "start_region_line": 44 - }, - { - "end_outermost_loop": 52, - "end_region_line": 62, - "line": "\n", - "lineno": 52, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 52, - "start_region_line": 27 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": " # Check separating axes along line direction\n", - "lineno": 53, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 27, - "start_region_line": 27 - }, - { - "end_outermost_loop": 54, - "end_region_line": 62, - "line": " line_axis = line_dir / np.linalg.norm(line_dir)\n", - "lineno": 54, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 54, - "start_region_line": 27 - }, - { - "end_outermost_loop": 55, - "end_region_line": 62, - "line": " aabb_proj = np.dot(aabb_min, line_axis), np.dot(aabb_max, line_axis)\n", - "lineno": 55, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 55, - "start_region_line": 27 - }, - { - "end_outermost_loop": 56, - "end_region_line": 62, - "line": " line_proj = np.dot(line_point1, line_axis), np.dot(line_point1 + line_dir, line_axis)\n", - "lineno": 56, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 56, - "start_region_line": 27 - }, - { - "end_outermost_loop": 57, - "end_region_line": 62, - "line": "\n", - "lineno": 57, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 57, - "start_region_line": 27 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": " # Check for overlap\n", - "lineno": 58, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 27, - "start_region_line": 27 - }, - { - "end_outermost_loop": 60, - "end_region_line": 62, - "line": " if not (np.min(line_proj) \\u003c= np.max(aabb_proj) and np.max(line_proj) \\u003e= np.min(aabb_proj)):\n", - "lineno": 59, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 59, - "start_region_line": 27 - }, - { - "end_outermost_loop": 60, - "end_region_line": 62, - "line": " return False # No overlap on the line axis\n", - "lineno": 60, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 60, - "start_region_line": 27 - }, - { - "end_outermost_loop": 61, - "end_region_line": 62, - "line": "\n", - "lineno": 61, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 61, - "start_region_line": 27 - }, - { - "end_outermost_loop": 62, - "end_region_line": 62, - "line": " return True # No separating axis found, intersection exists\n", - "lineno": 62, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 62, - "start_region_line": 27 - }, - { - "end_outermost_loop": 63, - "end_region_line": 63, - "line": "\n", - "lineno": 63, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 63, - "start_region_line": 63 - }, - { - "end_outermost_loop": 64, - "end_region_line": 64, - "line": "\n", - "lineno": 64, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 64, - "start_region_line": 64 - }, - { - "end_outermost_loop": 88, - "end_region_line": 88, - "line": "def check_pts_in_AABB_cube(cube, pts):\n", - "lineno": 65, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 65, - "start_region_line": 65 - }, - { - "end_outermost_loop": 66, - "end_region_line": 88, - "line": " \"\"\"\n", - "lineno": 66, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 66, - "start_region_line": 65 - }, - { - "end_outermost_loop": 67, - "end_region_line": 88, - "line": " Check if any of the 'points lie inside the cube\n", - "lineno": 67, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 67, - "start_region_line": 65 - }, - { - "end_outermost_loop": 68, - "end_region_line": 88, - "line": " Parameters\n", - "lineno": 68, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 68, - "start_region_line": 65 - }, - { - "end_outermost_loop": 69, - "end_region_line": 88, - "line": " ----------\n", - "lineno": 69, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 69, - "start_region_line": 65 - }, - { - "end_outermost_loop": 70, - "end_region_line": 88, - "line": " cube: Array of points of cube (8x4)\n", - "lineno": 70, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 70, - "start_region_line": 65 - }, - { - "end_outermost_loop": 71, - "end_region_line": 88, - "line": " pts: Array of points to check\n", - "lineno": 71, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 71, - "start_region_line": 65 - }, - { - "end_outermost_loop": 72, - "end_region_line": 88, - "line": "\n", - "lineno": 72, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 72, - "start_region_line": 65 - }, - { - "end_outermost_loop": 73, - "end_region_line": 88, - "line": " Returns\n", - "lineno": 73, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 73, - "start_region_line": 65 - }, - { - "end_outermost_loop": 74, - "end_region_line": 88, - "line": " -------\n", - "lineno": 74, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 74, - "start_region_line": 65 - }, - { - "end_outermost_loop": 75, - "end_region_line": 88, - "line": " True/False\n", - "lineno": 75, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 75, - "start_region_line": 65 - }, - { - "end_outermost_loop": 76, - "end_region_line": 88, - "line": " \"\"\"\n", - "lineno": 76, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 76, - "start_region_line": 65 - }, - { - "end_outermost_loop": 77, - "end_region_line": 88, - "line": " xmax = max(cube[:, 0])\n", - "lineno": 77, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 77, - "start_region_line": 65 - }, - { - "end_outermost_loop": 78, - "end_region_line": 88, - "line": " xmin = min(cube[:, 0])\n", - "lineno": 78, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 78, - "start_region_line": 65 - }, - { - "end_outermost_loop": 79, - "end_region_line": 88, - "line": " ymax = max(cube[:, 1])\n", - "lineno": 79, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 79, - "start_region_line": 65 - }, - { - "end_outermost_loop": 80, - "end_region_line": 88, - "line": " ymin = min(cube[:, 1])\n", - "lineno": 80, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 80, - "start_region_line": 65 - }, - { - "end_outermost_loop": 81, - "end_region_line": 88, - "line": " zmax = max(cube[:, 2])\n", - "lineno": 81, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 81, - "start_region_line": 65 - }, - { - "end_outermost_loop": 82, - "end_region_line": 88, - "line": " zmin = min(cube[:, 2])\n", - "lineno": 82, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 82, - "start_region_line": 65 - }, - { - "end_outermost_loop": 83, - "end_region_line": 88, - "line": "\n", - "lineno": 83, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 83, - "start_region_line": 65 - }, - { - "end_outermost_loop": 87, - "end_region_line": 87, - "line": " for p in pts:\n", - "lineno": 84, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 84, - "start_region_line": 84 - }, - { - "end_outermost_loop": 87, - "end_region_line": 87, - "line": " inside = p[0] \\u003c= xmax and p[0] \\u003e= xmin and p[1] \\u003c= ymax and p[1] \\u003e= ymin and p[2] \\u003c= zmax and p[2] \\u003e= zmin\n", - "lineno": 85, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 84, - "start_region_line": 84 - }, - { - "end_outermost_loop": 87, - "end_region_line": 87, - "line": " if inside:\n", - "lineno": 86, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 84, - "start_region_line": 84 - }, - { - "end_outermost_loop": 87, - "end_region_line": 87, - "line": " return True\n", - "lineno": 87, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 84, - "start_region_line": 84 - }, - { - "end_outermost_loop": 88, - "end_region_line": 88, - "line": " return False\n", - "lineno": 88, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 88, - "start_region_line": 65 - }, - { - "end_outermost_loop": 89, - "end_region_line": 89, - "line": "\n", - "lineno": 89, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 89, - "start_region_line": 89 - }, - { - "end_outermost_loop": 112, - "end_region_line": 112, - "line": "def check_AABB_in_AABB_from_pts(pts1, pts2):\n", - "lineno": 90, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 90, - "start_region_line": 90 - }, - { - "end_outermost_loop": 91, - "end_region_line": 112, - "line": " \"\"\"\n", - "lineno": 91, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 91, - "start_region_line": 90 - }, - { - "end_outermost_loop": 92, - "end_region_line": 112, - "line": " Check if an AABB intersects another AABB from the given two sets of points\n", - "lineno": 92, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 92, - "start_region_line": 90 - }, - { - "end_outermost_loop": 93, - "end_region_line": 112, - "line": " \"\"\"\n", - "lineno": 93, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 93, - "start_region_line": 90 - }, - { - "end_outermost_loop": 94, - "end_region_line": 112, - "line": " xmax_1 = max(pts1[:, 0])\n", - "lineno": 94, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 94, - "start_region_line": 90 - }, - { - "end_outermost_loop": 95, - "end_region_line": 112, - "line": " xmin_1 = min(pts1[:, 0])\n", - "lineno": 95, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 95, - "start_region_line": 90 - }, - { - "end_outermost_loop": 96, - "end_region_line": 112, - "line": " ymax_1 = max(pts1[:, 1])\n", - "lineno": 96, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 96, - "start_region_line": 90 - }, - { - "end_outermost_loop": 97, - "end_region_line": 112, - "line": " ymin_1 = min(pts1[:, 1])\n", - "lineno": 97, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 97, - "start_region_line": 90 - }, - { - "end_outermost_loop": 98, - "end_region_line": 112, - "line": " zmax_1 = max(pts1[:, 2])\n", - "lineno": 98, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 98, - "start_region_line": 90 - }, - { - "end_outermost_loop": 99, - "end_region_line": 112, - "line": " zmin_1 = min(pts1[:, 2])\n", - "lineno": 99, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 99, - "start_region_line": 90 - }, - { - "end_outermost_loop": 100, - "end_region_line": 112, - "line": "\n", - "lineno": 100, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 100, - "start_region_line": 90 - }, - { - "end_outermost_loop": 101, - "end_region_line": 112, - "line": " xmax_2 = max(pts2[:, 0])\n", - "lineno": 101, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 101, - "start_region_line": 90 - }, - { - "end_outermost_loop": 102, - "end_region_line": 112, - "line": " xmin_2 = min(pts2[:, 0])\n", - "lineno": 102, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 102, - "start_region_line": 90 - }, - { - "end_outermost_loop": 103, - "end_region_line": 112, - "line": " ymax_2 = max(pts2[:, 1])\n", - "lineno": 103, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 103, - "start_region_line": 90 - }, - { - "end_outermost_loop": 104, - "end_region_line": 112, - "line": " ymin_2 = min(pts2[:, 1])\n", - "lineno": 104, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 104, - "start_region_line": 90 - }, - { - "end_outermost_loop": 105, - "end_region_line": 112, - "line": " zmax_2 = max(pts2[:, 2])\n", - "lineno": 105, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 105, - "start_region_line": 90 - }, - { - "end_outermost_loop": 106, - "end_region_line": 112, - "line": " zmin_2 = min(pts2[:, 2])\n", - "lineno": 106, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 106, - "start_region_line": 90 - }, - { - "end_outermost_loop": 107, - "end_region_line": 112, - "line": "\n", - "lineno": 107, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 107, - "start_region_line": 90 - }, - { - "end_outermost_loop": 108, - "end_region_line": 112, - "line": " cx = xmin_1\\u003c=xmax_2 and xmax_1\\u003e=xmin_2\n", - "lineno": 108, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 108, - "start_region_line": 90 - }, - { - "end_outermost_loop": 109, - "end_region_line": 112, - "line": " cy = ymin_1\\u003c=ymax_2 and ymax_1\\u003e=ymin_2\n", - "lineno": 109, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 109, - "start_region_line": 90 - }, - { - "end_outermost_loop": 110, - "end_region_line": 112, - "line": " cz = zmin_1\\u003c=zmax_2 and zmax_1\\u003e=zmin_2\n", - "lineno": 110, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 110, - "start_region_line": 90 - }, - { - "end_outermost_loop": 111, - "end_region_line": 112, - "line": " \n", - "lineno": 111, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 111, - "start_region_line": 90 - }, - { - "end_outermost_loop": 112, - "end_region_line": 112, - "line": " return cx and cy and cz\n", - "lineno": 112, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 112, - "start_region_line": 90 - }, - { - "end_outermost_loop": 113, - "end_region_line": 113, - "line": "\n", - "lineno": 113, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 113, - "start_region_line": 113 - }, - { - "end_outermost_loop": 114, - "end_region_line": 114, - "line": "\n", - "lineno": 114, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 114, - "start_region_line": 114 - }, - { - "end_outermost_loop": 135, - "end_region_line": 135, - "line": "def check_mesh_triangle_edges_in_cube(mesh_triangles,cube):\n", - "lineno": 115, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 115, - "start_region_line": 115 - }, - { - "end_outermost_loop": 135, - "end_region_line": 135, - "line": " # Check a set of mesh's triangles intersect an AABB cube\n", - "lineno": 116, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 115, - "start_region_line": 115 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " while len(mesh_triangles):\n", - "lineno": 117, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " # choose a random triangle indices\n", - "lineno": 118, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " random_index = random.randint(0, len(mesh_triangles) - 1)\n", - "lineno": 119, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " points = mesh_triangles[random_index]\n", - "lineno": 120, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " mesh_triangles.pop(random_index)\n", - "lineno": 121, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": "\n", - "lineno": 122, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " # Three triangle sides\n", - "lineno": 123, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " set_1 = [points[0],points[1]]\n", - "lineno": 124, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " set_2 = [points[0],points[2]]\n", - "lineno": 125, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " set_3 = [points[1],points[2]]\n", - "lineno": 126, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": "\n", - "lineno": 127, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " # Sample three equilinear points on each side and test for AABB intersection\n", - "lineno": 128, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 117 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " for set in [set_1,set_2,set_3]:\n", - "lineno": 129, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 129 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " mid = np.add(set[0], set[1])/2\n", - "lineno": 130, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 129 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " mid1 = np.add(mid, set[0])/2\n", - "lineno": 131, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 129 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " mid2 = np.add(mid, set[1])/2\n", - "lineno": 132, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 129 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " if check_pts_in_AABB_cube(cube,[mid, mid1, mid2]):\n", - "lineno": 133, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 129 - }, - { - "end_outermost_loop": 134, - "end_region_line": 134, - "line": " return True\n", - "lineno": 134, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 117, - "start_region_line": 129 - }, - { - "end_outermost_loop": 135, - "end_region_line": 135, - "line": " return False\n", - "lineno": 135, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 135, - "start_region_line": 115 - }, - { - "end_outermost_loop": 136, - "end_region_line": 136, - "line": "\n", - "lineno": 136, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 136, - "start_region_line": 136 - }, - { - "end_outermost_loop": 137, - "end_region_line": 137, - "line": "# def check_mesh_triangle_edges_in_cube(mesh_triangles,cube):\n", - "lineno": 137, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 137, - "start_region_line": 137 - }, - { - "end_outermost_loop": 138, - "end_region_line": 138, - "line": "# for points in mesh_triangles:\n", - "lineno": 138, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 138, - "start_region_line": 138 - }, - { - "end_outermost_loop": 139, - "end_region_line": 139, - "line": "# set_1 = [points[0],points[1]]\n", - "lineno": 139, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 139, - "start_region_line": 139 - }, - { - "end_outermost_loop": 140, - "end_region_line": 140, - "line": "# set_2 = [points[0],points[2]]\n", - "lineno": 140, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 140, - "start_region_line": 140 - }, - { - "end_outermost_loop": 141, - "end_region_line": 141, - "line": "# set_3 = [points[1],points[2]]\n", - "lineno": 141, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 141, - "start_region_line": 141 - }, - { - "end_outermost_loop": 142, - "end_region_line": 142, - "line": "# for set in [set_1,set_2,set_3]:\n", - "lineno": 142, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 142, - "start_region_line": 142 - }, - { - "end_outermost_loop": 143, - "end_region_line": 143, - "line": "# mid = np.add(set[0],set[1])/2\n", - "lineno": 143, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 143, - "start_region_line": 143 - }, - { - "end_outermost_loop": 144, - "end_region_line": 144, - "line": "# if check_pts_in_AABB_cube(cube,[mid]):\n", - "lineno": 144, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 144, - "start_region_line": 144 - }, - { - "end_outermost_loop": 145, - "end_region_line": 145, - "line": "# return True\n", - "lineno": 145, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 145, - "start_region_line": 145 - }, - { - "end_outermost_loop": 146, - "end_region_line": 146, - "line": "# mid1 = np.add(mid, set[0])/2\n", - "lineno": 146, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 146, - "start_region_line": 146 - }, - { - "end_outermost_loop": 147, - "end_region_line": 147, - "line": "# if check_pts_in_AABB_cube(cube,[mid1]):\n", - "lineno": 147, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 147, - "start_region_line": 147 - }, - { - "end_outermost_loop": 148, - "end_region_line": 148, - "line": "# return True\n", - "lineno": 148, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 148, - "start_region_line": 148 - }, - { - "end_outermost_loop": 149, - "end_region_line": 149, - "line": "# mid2 = np.add(mid, set[1])/2\n", - "lineno": 149, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 149, - "start_region_line": 149 - }, - { - "end_outermost_loop": 150, - "end_region_line": 150, - "line": "# if check_pts_in_AABB_cube(cube,[mid2]):\n", - "lineno": 150, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 150, - "start_region_line": 150 - }, - { - "end_outermost_loop": 151, - "end_region_line": 151, - "line": "# return True\n", - "lineno": 151, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 151, - "start_region_line": 151 - }, - { - "end_outermost_loop": 152, - "end_region_line": 152, - "line": "# return False\n", - "lineno": 152, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 152, - "start_region_line": 152 - }, - { - "end_outermost_loop": 153, - "end_region_line": 153, - "line": "\n", - "lineno": 153, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 153, - "start_region_line": 153 - }, - { - "end_outermost_loop": 154, - "end_region_line": 154, - "line": "\n", - "lineno": 154, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 154, - "start_region_line": 154 - }, - { - "end_outermost_loop": 172, - "end_region_line": 172, - "line": "def check_ppd_edges_in_cube(cube,cube_edge,edge_indices):\n", - "lineno": 155, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 155, - "start_region_line": 155 - }, - { - "end_outermost_loop": 158, - "end_region_line": 172, - "line": " if len(edge_indices)!=12:\n", - "lineno": 156, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 156, - "start_region_line": 155 - }, - { - "end_outermost_loop": 157, - "end_region_line": 172, - "line": " print('Invalid PPD provided to check_ppd_edges_in_cube')\n", - "lineno": 157, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 157, - "start_region_line": 155 - }, - { - "end_outermost_loop": 158, - "end_region_line": 172, - "line": " return False\n", - "lineno": 158, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 158, - "start_region_line": 155 - }, - { - "end_outermost_loop": 159, - "end_region_line": 172, - "line": " aabb_min=np.array([min(cube[:, 0]),min(cube[:, 1]),min(cube[:, 2])],dtype=np.float32)\n", - "lineno": 159, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 159, - "start_region_line": 155 - }, - { - "end_outermost_loop": 160, - "end_region_line": 172, - "line": " aabb_max = np.array([max(cube[:, 0]),max(cube[:, 1]),max(cube[:, 2])],dtype=np.float32)\n", - "lineno": 160, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 160, - "start_region_line": 155 - }, - { - "end_outermost_loop": 161, - "end_region_line": 172, - "line": " print('EE',cube_edge)\n", - "lineno": 161, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 161, - "start_region_line": 155 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " for ei in edge_indices:\n", - "lineno": 162, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " e0=cube_edge[ei][0][0:3]\n", - "lineno": 163, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " e1=cube_edge[ei][1][0:3]\n", - "lineno": 164, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " print('----',ei)\n", - "lineno": 165, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " print('e0',e0)\n", - "lineno": 166, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " print('e1', e1)\n", - "lineno": 167, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " print('aabb_min', aabb_min)\n", - "lineno": 168, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " print('aabb_max', aabb_max)\n", - "lineno": 169, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " if line_box_sat_intersection(e0,e1, aabb_min, aabb_max):\n", - "lineno": 170, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 171, - "end_region_line": 171, - "line": " return True\n", - "lineno": 171, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 162, - "start_region_line": 162 - }, - { - "end_outermost_loop": 172, - "end_region_line": 172, - "line": " return False\n", - "lineno": 172, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 172, - "start_region_line": 155 - }, - { - "end_outermost_loop": 173, - "end_region_line": 173, - "line": "\n", - "lineno": 173, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 173, - "start_region_line": 173 - }, - { - "end_outermost_loop": 188, - "end_region_line": 188, - "line": "def closest_pair_3d(points1, points2):\n", - "lineno": 174, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 174, - "start_region_line": 174 - }, - { - "end_outermost_loop": 175, - "end_region_line": 188, - "line": " \"\"\"\n", - "lineno": 175, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 175, - "start_region_line": 174 - }, - { - "end_outermost_loop": 176, - "end_region_line": 188, - "line": " Find the closest pair of 3D points from two lists of 3D points.\n", - "lineno": 176, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 176, - "start_region_line": 174 - }, - { - "end_outermost_loop": 177, - "end_region_line": 188, - "line": " \"\"\"\n", - "lineno": 177, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 177, - "start_region_line": 174 - }, - { - "end_outermost_loop": 178, - "end_region_line": 188, - "line": " closest_distance = float('inf')\n", - "lineno": 178, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 178, - "start_region_line": 174 - }, - { - "end_outermost_loop": 179, - "end_region_line": 188, - "line": " closest_pair = None\n", - "lineno": 179, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 179, - "start_region_line": 174 - }, - { - "end_outermost_loop": 180, - "end_region_line": 188, - "line": " \n", - "lineno": 180, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 180, - "start_region_line": 174 - }, - { - "end_outermost_loop": 186, - "end_region_line": 186, - "line": " for p1 in points1:\n", - "lineno": 181, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 181 - }, - { - "end_outermost_loop": 186, - "end_region_line": 186, - "line": " for p2 in points2:\n", - "lineno": 182, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 182 - }, - { - "end_outermost_loop": 186, - "end_region_line": 186, - "line": " dist = np.linalg.norm(p1-p2)\n", - "lineno": 183, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 182 - }, - { - "end_outermost_loop": 186, - "end_region_line": 186, - "line": " if dist \\u003c closest_distance:\n", - "lineno": 184, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 182 - }, - { - "end_outermost_loop": 186, - "end_region_line": 186, - "line": " closest_distance = dist\n", - "lineno": 185, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 182 - }, - { - "end_outermost_loop": 186, - "end_region_line": 186, - "line": " closest_pair = (p1, p2)\n", - "lineno": 186, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 181, - "start_region_line": 182 - }, - { - "end_outermost_loop": 187, - "end_region_line": 188, - "line": " \n", - "lineno": 187, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 187, - "start_region_line": 174 - }, - { - "end_outermost_loop": 188, - "end_region_line": 188, - "line": " return closest_pair, closest_distance\n", - "lineno": 188, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 188, - "start_region_line": 174 - }, - { - "end_outermost_loop": 189, - "end_region_line": 189, - "line": " \n", - "lineno": 189, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 189, - "start_region_line": 189 - }, - { - "end_outermost_loop": 190, - "end_region_line": 190, - "line": "# #######################################################################\n", - "lineno": 190, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 190, - "start_region_line": 190 - }, - { - "end_outermost_loop": 191, - "end_region_line": 191, - "line": "\n", - "lineno": 191, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 191, - "start_region_line": 191 - }, - { - "end_outermost_loop": 295, - "end_region_line": 295, - "line": "class CollisionLink:\n", - "lineno": 192, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 192, - "start_region_line": 192 - }, - { - "end_outermost_loop": 208, - "end_region_line": 208, - "line": " def __init__(self,link_name,urdf,mesh_path,max_mesh_points):\n", - "lineno": 193, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 193, - "start_region_line": 193 - }, - { - "end_outermost_loop": 194, - "end_region_line": 208, - "line": " self.name=link_name\n", - "lineno": 194, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 194, - "start_region_line": 193 - }, - { - "end_outermost_loop": 195, - "end_region_line": 208, - "line": " self.link = urdf.link_map[link_name]\n", - "lineno": 195, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 195, - "start_region_line": 193 - }, - { - "end_outermost_loop": 196, - "end_region_line": 208, - "line": " stl_filename = str(mesh_path) + self.link.collisions[0].geometry.mesh.filename[1:]\n", - "lineno": 196, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 196, - "start_region_line": 193 - }, - { - "end_outermost_loop": 197, - "end_region_line": 208, - "line": " self.mesh = meshio.read(stl_filename)\n", - "lineno": 197, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 197, - "start_region_line": 193 - }, - { - "end_outermost_loop": 198, - "end_region_line": 208, - "line": " pts = self.mesh.points\n", - "lineno": 198, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 198, - "start_region_line": 193 - }, - { - "end_outermost_loop": 199, - "end_region_line": 208, - "line": " self.points = np.hstack((pts, np.ones([pts.shape[0], 1], dtype=np.float32))) # One extend to Nx4 array\n", - "lineno": 199, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 199, - "start_region_line": 193 - }, - { - "end_outermost_loop": 200, - "end_region_line": 208, - "line": " self.in_collision= False\n", - "lineno": 200, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 200, - "start_region_line": 193 - }, - { - "end_outermost_loop": 201, - "end_region_line": 208, - "line": " self.was_in_collision = False\n", - "lineno": 201, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 201, - "start_region_line": 193 - }, - { - "end_outermost_loop": 202, - "end_region_line": 208, - "line": " self.is_aabb=self.check_AABB(self.points)\n", - "lineno": 202, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 202, - "start_region_line": 193 - }, - { - "end_outermost_loop": 203, - "end_region_line": 208, - "line": " self.is_valid=True\n", - "lineno": 203, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 203, - "start_region_line": 193 - }, - { - "end_outermost_loop": 207, - "end_region_line": 208, - "line": " if pts.shape[0] \\u003e max_mesh_points:\n", - "lineno": 204, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 204, - "start_region_line": 193 - }, - { - "end_outermost_loop": 205, - "end_region_line": 208, - "line": " print('Incorrect size of points for link:', link_name, pts.shape)\n", - "lineno": 205, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 205, - "start_region_line": 193 - }, - { - "end_outermost_loop": 206, - "end_region_line": 208, - "line": " print('Ignoring collision link %s' % link_name)\n", - "lineno": 206, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 206, - "start_region_line": 193 - }, - { - "end_outermost_loop": 207, - "end_region_line": 208, - "line": " self.is_valid=False\n", - "lineno": 207, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 207, - "start_region_line": 193 - }, - { - "end_outermost_loop": 208, - "end_region_line": 208, - "line": " self.pose=None\n", - "lineno": 208, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 208, - "start_region_line": 193 - }, - { - "end_outermost_loop": 295, - "end_region_line": 295, - "line": " #self.edge_indices_ppd=self.find_edge_indices_PPD()\n", - "lineno": 209, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 192, - "start_region_line": 192 - }, - { - "end_outermost_loop": 210, - "end_region_line": 295, - "line": "\n", - "lineno": 210, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 210, - "start_region_line": 192 - }, - { - "end_outermost_loop": 211, - "end_region_line": 295, - "line": "\n", - "lineno": 211, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 211, - "start_region_line": 192 - }, - { - "end_outermost_loop": 213, - "end_region_line": 213, - "line": " def is_ppd(self):\n", - "lineno": 212, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 212, - "start_region_line": 212 - }, - { - "end_outermost_loop": 213, - "end_region_line": 213, - "line": " return self.points.shape[0]==8\n", - "lineno": 213, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 213, - "start_region_line": 212 - }, - { - "end_outermost_loop": 214, - "end_region_line": 295, - "line": "\n", - "lineno": 214, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 214, - "start_region_line": 192 - }, - { - "end_outermost_loop": 216, - "end_region_line": 216, - "line": " def set_pose(self,p):\n", - "lineno": 215, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 215, - "start_region_line": 215 - }, - { - "end_outermost_loop": 216, - "end_region_line": 216, - "line": " self.pose=p\n", - "lineno": 216, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 216, - "start_region_line": 215 - }, - { - "end_outermost_loop": 217, - "end_region_line": 295, - "line": "\n", - "lineno": 217, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 217, - "start_region_line": 192 - }, - { - "end_outermost_loop": 224, - "end_region_line": 224, - "line": " def pretty_print(self):\n", - "lineno": 218, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 218, - "start_region_line": 218 - }, - { - "end_outermost_loop": 219, - "end_region_line": 224, - "line": " print('-- CollisionLink %s --'%self.name)\n", - "lineno": 219, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 219, - "start_region_line": 218 - }, - { - "end_outermost_loop": 220, - "end_region_line": 224, - "line": " print('AABB Cube',self.is_aabb)\n", - "lineno": 220, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 220, - "start_region_line": 218 - }, - { - "end_outermost_loop": 221, - "end_region_line": 224, - "line": " print('Is Valid', self.is_valid)\n", - "lineno": 221, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 221, - "start_region_line": 218 - }, - { - "end_outermost_loop": 222, - "end_region_line": 224, - "line": " print('In collision',self.in_collision)\n", - "lineno": 222, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 222, - "start_region_line": 218 - }, - { - "end_outermost_loop": 223, - "end_region_line": 224, - "line": " print('Was in collision',self.was_in_collision)\n", - "lineno": 223, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 223, - "start_region_line": 218 - }, - { - "end_outermost_loop": 224, - "end_region_line": 224, - "line": " print('Mesh size',self.points.shape)\n", - "lineno": 224, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 224, - "start_region_line": 218 - }, - { - "end_outermost_loop": 225, - "end_region_line": 295, - "line": "\n", - "lineno": 225, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 225, - "start_region_line": 192 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " def find_edge_indices_PPD(self):\n", - "lineno": 226, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 226 - }, - { - "end_outermost_loop": 227, - "end_region_line": 260, - "line": " \"\"\"\n", - "lineno": 227, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 227, - "start_region_line": 226 - }, - { - "end_outermost_loop": 228, - "end_region_line": 260, - "line": " Return the indices for each edge assuming the link is a parallelpiped (PPD)\n", - "lineno": 228, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 228, - "start_region_line": 226 - }, - { - "end_outermost_loop": 229, - "end_region_line": 260, - "line": " \"\"\"\n", - "lineno": 229, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 229, - "start_region_line": 226 - }, - { - "end_outermost_loop": 230, - "end_region_line": 260, - "line": "\n", - "lineno": 230, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 230, - "start_region_line": 226 - }, - { - "end_outermost_loop": 231, - "end_region_line": 260, - "line": " triangles=self.mesh.cells_dict['triangle']\n", - "lineno": 231, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 231, - "start_region_line": 226 - }, - { - "end_outermost_loop": 232, - "end_region_line": 260, - "line": "\n", - "lineno": 232, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 232, - "start_region_line": 226 - }, - { - "end_outermost_loop": 238, - "end_region_line": 238, - "line": " for t in triangles:\n", - "lineno": 233, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 233 - }, - { - "end_outermost_loop": 238, - "end_region_line": 238, - "line": " idx_pairs=[[0,1],[0,2],[1,2]]\n", - "lineno": 234, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 233 - }, - { - "end_outermost_loop": 238, - "end_region_line": 238, - "line": " edge_lens=[]\n", - "lineno": 235, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 233 - }, - { - "end_outermost_loop": 238, - "end_region_line": 237, - "line": " for ii in idx_pairs:\n", - "lineno": 236, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 236 - }, - { - "end_outermost_loop": 238, - "end_region_line": 237, - "line": " edge_lens.append(np.linalg.norm(self.points[ii[0]]-self.points[ii[2]]))\n", - "lineno": 237, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 236 - }, - { - "end_outermost_loop": 238, - "end_region_line": 238, - "line": " exterior_edges = np.array(idx_pairs)[np.argsort(np.array(edge_lens))][0:2] #indices of two shortest legs of triangle\n", - "lineno": 238, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 233, - "start_region_line": 233 - }, - { - "end_outermost_loop": 239, - "end_region_line": 260, - "line": "\n", - "lineno": 239, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 239, - "start_region_line": 226 - }, - { - "end_outermost_loop": 240, - "end_region_line": 260, - "line": "\n", - "lineno": 240, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 240, - "start_region_line": 226 - }, - { - "end_outermost_loop": 241, - "end_region_line": 260, - "line": "\n", - "lineno": 241, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 241, - "start_region_line": 226 - }, - { - "end_outermost_loop": 242, - "end_region_line": 260, - "line": "\n", - "lineno": 242, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 242, - "start_region_line": 226 - }, - { - "end_outermost_loop": 243, - "end_region_line": 260, - "line": " px=self.points.shape[0]\n", - "lineno": 243, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 243, - "start_region_line": 226 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " # if not self.is_ppd():\n", - "lineno": 244, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 226 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " # return np.array([])\n", - "lineno": 245, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 226 - }, - { - "end_outermost_loop": 246, - "end_region_line": 260, - "line": " idx=[]\n", - "lineno": 246, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 246, - "start_region_line": 226 - }, - { - "end_outermost_loop": 247, - "end_region_line": 260, - "line": " lens=[]\n", - "lineno": 247, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 247, - "start_region_line": 226 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " #Toss out really short edge as is a mesh file artifact\n", - "lineno": 248, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 226 - }, - { - "end_outermost_loop": 249, - "end_region_line": 260, - "line": "\n", - "lineno": 249, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 249, - "start_region_line": 226 - }, - { - "end_outermost_loop": 255, - "end_region_line": 255, - "line": " for i in range(px):\n", - "lineno": 250, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 250 - }, - { - "end_outermost_loop": 255, - "end_region_line": 255, - "line": " for j in range(i+1,px):\n", - "lineno": 251, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 251 - }, - { - "end_outermost_loop": 255, - "end_region_line": 255, - "line": " ll = np.linalg.norm(self.points[i] - self.points[j])\n", - "lineno": 252, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 251 - }, - { - "end_outermost_loop": 255, - "end_region_line": 255, - "line": " if ll\\u003eeps:\n", - "lineno": 253, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 251 - }, - { - "end_outermost_loop": 255, - "end_region_line": 255, - "line": " idx.append([i,j])\n", - "lineno": 254, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 251 - }, - { - "end_outermost_loop": 255, - "end_region_line": 255, - "line": " lens.append(ll)\n", - "lineno": 255, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 250, - "start_region_line": 251 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " #return 12 shortest lengths of all possible combinations\n", - "lineno": 256, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 226, - "start_region_line": 226 - }, - { - "end_outermost_loop": 257, - "end_region_line": 260, - "line": " q= np.array(idx)[np.argsort(np.array(lens))][0:12]\n", - "lineno": 257, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 257, - "start_region_line": 226 - }, - { - "end_outermost_loop": 258, - "end_region_line": 260, - "line": " lens.sort()\n", - "lineno": 258, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 258, - "start_region_line": 226 - }, - { - "end_outermost_loop": 259, - "end_region_line": 260, - "line": " print('LENS',lens)\n", - "lineno": 259, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 259, - "start_region_line": 226 - }, - { - "end_outermost_loop": 260, - "end_region_line": 260, - "line": " return q\n", - "lineno": 260, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 260, - "start_region_line": 226 - }, - { - "end_outermost_loop": 261, - "end_region_line": 295, - "line": " \n", - "lineno": 261, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 261, - "start_region_line": 192 - }, - { - "end_outermost_loop": 270, - "end_region_line": 270, - "line": " def get_triangles(self):\n", - "lineno": 262, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 262, - "start_region_line": 262 - }, - { - "end_outermost_loop": 263, - "end_region_line": 270, - "line": " triangles_idx=self.mesh.cells_dict['triangle']\n", - "lineno": 263, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 263, - "start_region_line": 262 - }, - { - "end_outermost_loop": 264, - "end_region_line": 270, - "line": " triangles = []\n", - "lineno": 264, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 264, - "start_region_line": 262 - }, - { - "end_outermost_loop": 269, - "end_region_line": 269, - "line": " for t_set in triangles_idx:\n", - "lineno": 265, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 265 - }, - { - "end_outermost_loop": 269, - "end_region_line": 269, - "line": " p1 = self.pose[t_set[0]]\n", - "lineno": 266, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 265 - }, - { - "end_outermost_loop": 269, - "end_region_line": 269, - "line": " p2 = self.pose[t_set[1]]\n", - "lineno": 267, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 265 - }, - { - "end_outermost_loop": 269, - "end_region_line": 269, - "line": " p3 = self.pose[t_set[2]]\n", - "lineno": 268, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 265 - }, - { - "end_outermost_loop": 269, - "end_region_line": 269, - "line": " triangles.append([p1,p2,p3])\n", - "lineno": 269, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 265, - "start_region_line": 265 - }, - { - "end_outermost_loop": 270, - "end_region_line": 270, - "line": " return triangles\n", - "lineno": 270, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 270, - "start_region_line": 262 - }, - { - "end_outermost_loop": 271, - "end_region_line": 295, - "line": "\n", - "lineno": 271, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 271, - "start_region_line": 192 - }, - { - "end_outermost_loop": 295, - "end_region_line": 295, - "line": " def check_AABB(self,pts):\n", - "lineno": 272, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 272, - "start_region_line": 272 - }, - { - "end_outermost_loop": 273, - "end_region_line": 295, - "line": " \"\"\"\n", - "lineno": 273, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 273, - "start_region_line": 272 - }, - { - "end_outermost_loop": 274, - "end_region_line": 295, - "line": " Check if points are axis aligned (roughly) and form a rectangular parallelpiped (eg AABB)\n", - "lineno": 274, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 274, - "start_region_line": 272 - }, - { - "end_outermost_loop": 275, - "end_region_line": 295, - "line": "\n", - "lineno": 275, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 275, - "start_region_line": 272 - }, - { - "end_outermost_loop": 276, - "end_region_line": 295, - "line": " Parameters\n", - "lineno": 276, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 276, - "start_region_line": 272 - }, - { - "end_outermost_loop": 277, - "end_region_line": 295, - "line": " ----------\n", - "lineno": 277, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 277, - "start_region_line": 272 - }, - { - "end_outermost_loop": 278, - "end_region_line": 295, - "line": " pts of mesh (8x4)\n", - "lineno": 278, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 278, - "start_region_line": 272 - }, - { - "end_outermost_loop": 279, - "end_region_line": 295, - "line": "\n", - "lineno": 279, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 279, - "start_region_line": 272 - }, - { - "end_outermost_loop": 280, - "end_region_line": 295, - "line": " Returns\n", - "lineno": 280, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 280, - "start_region_line": 272 - }, - { - "end_outermost_loop": 281, - "end_region_line": 295, - "line": " -------\n", - "lineno": 281, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 281, - "start_region_line": 272 - }, - { - "end_outermost_loop": 282, - "end_region_line": 295, - "line": " True / False\n", - "lineno": 282, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 282, - "start_region_line": 272 - }, - { - "end_outermost_loop": 283, - "end_region_line": 295, - "line": " \"\"\"\n", - "lineno": 283, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 283, - "start_region_line": 272 - }, - { - "end_outermost_loop": 295, - "end_region_line": 295, - "line": " # Check that each x,y,z of each point has two nearly (eps) idential values\n", - "lineno": 284, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 272, - "start_region_line": 272 - }, - { - "end_outermost_loop": 285, - "end_region_line": 295, - "line": " x = pts[:, 0]\n", - "lineno": 285, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 285, - "start_region_line": 272 - }, - { - "end_outermost_loop": 286, - "end_region_line": 295, - "line": " y = pts[:, 1]\n", - "lineno": 286, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 286, - "start_region_line": 272 - }, - { - "end_outermost_loop": 287, - "end_region_line": 295, - "line": " z = pts[:, 2]\n", - "lineno": 287, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 287, - "start_region_line": 272 - }, - { - "end_outermost_loop": 288, - "end_region_line": 295, - "line": " eps = .001 # meters\n", - "lineno": 288, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 288, - "start_region_line": 272 - }, - { - "end_outermost_loop": 294, - "end_region_line": 294, - "line": " for ridx in range(8):\n", - "lineno": 289, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 289 - }, - { - "end_outermost_loop": 294, - "end_region_line": 294, - "line": " sx = sum(abs((x - x[ridx])) \\u003c eps)\n", - "lineno": 290, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 289 - }, - { - "end_outermost_loop": 294, - "end_region_line": 294, - "line": " sy = sum(abs((y - y[ridx])) \\u003c eps)\n", - "lineno": 291, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 289 - }, - { - "end_outermost_loop": 294, - "end_region_line": 294, - "line": " sz = sum(abs((y - y[ridx])) \\u003c eps)\n", - "lineno": 292, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 289 - }, - { - "end_outermost_loop": 294, - "end_region_line": 294, - "line": " if sx + sy + sz != 12:\n", - "lineno": 293, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 289 - }, - { - "end_outermost_loop": 294, - "end_region_line": 294, - "line": " return False\n", - "lineno": 294, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 289, - "start_region_line": 289 - }, - { - "end_outermost_loop": 295, - "end_region_line": 295, - "line": " return True\n", - "lineno": 295, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 295, - "start_region_line": 272 - }, - { - "end_outermost_loop": 296, - "end_region_line": 296, - "line": "\n", - "lineno": 296, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 296, - "start_region_line": 296 - }, - { - "end_outermost_loop": 313, - "end_region_line": 313, - "line": "class CollisionPair:\n", - "lineno": 297, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 297, - "start_region_line": 297 - }, - { - "end_outermost_loop": 307, - "end_region_line": 307, - "line": " def __init__(self, name,link_pts,link_cube,detect_as):\n", - "lineno": 298, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 298, - "start_region_line": 298 - }, - { - "end_outermost_loop": 299, - "end_region_line": 307, - "line": " self.in_collision=False\n", - "lineno": 299, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 299, - "start_region_line": 298 - }, - { - "end_outermost_loop": 300, - "end_region_line": 307, - "line": " self.was_in_collision=False\n", - "lineno": 300, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 300, - "start_region_line": 298 - }, - { - "end_outermost_loop": 301, - "end_region_line": 307, - "line": " self.link_cube=link_cube\n", - "lineno": 301, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 301, - "start_region_line": 298 - }, - { - "end_outermost_loop": 302, - "end_region_line": 307, - "line": " self.link_pts=link_pts\n", - "lineno": 302, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 302, - "start_region_line": 298 - }, - { - "end_outermost_loop": 303, - "end_region_line": 307, - "line": " self.detect_as=detect_as\n", - "lineno": 303, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 303, - "start_region_line": 298 - }, - { - "end_outermost_loop": 304, - "end_region_line": 307, - "line": " self.name=name\n", - "lineno": 304, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 304, - "start_region_line": 298 - }, - { - "end_outermost_loop": 305, - "end_region_line": 307, - "line": " self.is_valid=self.link_cube.is_valid and self.link_pts.is_valid and self.link_cube.is_aabb\n", - "lineno": 305, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 305, - "start_region_line": 298 - }, - { - "end_outermost_loop": 307, - "end_region_line": 307, - "line": " if not self.is_valid:\n", - "lineno": 306, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 306, - "start_region_line": 298 - }, - { - "end_outermost_loop": 307, - "end_region_line": 307, - "line": " print('Dropping monitor of collision pair %s'%self.name_id)\n", - "lineno": 307, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 307, - "start_region_line": 298 - }, - { - "end_outermost_loop": 308, - "end_region_line": 313, - "line": "\n", - "lineno": 308, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 308, - "start_region_line": 297 - }, - { - "end_outermost_loop": 313, - "end_region_line": 313, - "line": " def pretty_print(self):\n", - "lineno": 309, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 309, - "start_region_line": 309 - }, - { - "end_outermost_loop": 310, - "end_region_line": 313, - "line": " print('-------- Collision Pair %s ----------------'%self.name_id.upper())\n", - "lineno": 310, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 310, - "start_region_line": 309 - }, - { - "end_outermost_loop": 311, - "end_region_line": 313, - "line": " print('In collision',self.in_collision)\n", - "lineno": 311, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 311, - "start_region_line": 309 - }, - { - "end_outermost_loop": 312, - "end_region_line": 313, - "line": " print('Was in collision',self.was_in_collision)\n", - "lineno": 312, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 312, - "start_region_line": 309 - }, - { - "end_outermost_loop": 313, - "end_region_line": 313, - "line": " print('Is Valid',self.is_valid)\n", - "lineno": 313, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 313, - "start_region_line": 309 - }, - { - "end_outermost_loop": 314, - "end_region_line": 314, - "line": " # print('--Link Cube--')\n", - "lineno": 314, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 314, - "start_region_line": 314 - }, - { - "end_outermost_loop": 315, - "end_region_line": 315, - "line": " # self.link_cube.pretty_print()\n", - "lineno": 315, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 315, - "start_region_line": 315 - }, - { - "end_outermost_loop": 316, - "end_region_line": 316, - "line": " # print('--Link Pts--')\n", - "lineno": 316, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 316, - "start_region_line": 316 - }, - { - "end_outermost_loop": 317, - "end_region_line": 317, - "line": " # self.link_pts.pretty_print()\n", - "lineno": 317, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 317, - "start_region_line": 317 - }, - { - "end_outermost_loop": 318, - "end_region_line": 318, - "line": "\n", - "lineno": 318, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 318, - "start_region_line": 318 - }, - { - "end_outermost_loop": 319, - "end_region_line": 319, - "line": "\n", - "lineno": 319, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 319, - "start_region_line": 319 - }, - { - "end_outermost_loop": 352, - "end_region_line": 352, - "line": "class CollisionJoint:\n", - "lineno": 320, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 320, - "start_region_line": 320 - }, - { - "end_outermost_loop": 327, - "end_region_line": 327, - "line": " def __init__(self, joint_name):\n", - "lineno": 321, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 321, - "start_region_line": 321 - }, - { - "end_outermost_loop": 322, - "end_region_line": 327, - "line": " self.name=joint_name\n", - "lineno": 322, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 322, - "start_region_line": 321 - }, - { - "end_outermost_loop": 323, - "end_region_line": 327, - "line": " self.active_collisions=[]\n", - "lineno": 323, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 323, - "start_region_line": 321 - }, - { - "end_outermost_loop": 324, - "end_region_line": 327, - "line": " self.collision_pairs=[]\n", - "lineno": 324, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 324, - "start_region_line": 321 - }, - { - "end_outermost_loop": 325, - "end_region_line": 327, - "line": " self.collision_dirs={}\n", - "lineno": 325, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 325, - "start_region_line": 321 - }, - { - "end_outermost_loop": 326, - "end_region_line": 327, - "line": " self.in_collision={'pos':False,'neg':False, 'last_joint_cfg_thresh':1000}\n", - "lineno": 326, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 326, - "start_region_line": 321 - }, - { - "end_outermost_loop": 327, - "end_region_line": 327, - "line": " self.was_in_collision = {'pos': False, 'neg': False}\n", - "lineno": 327, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 327, - "start_region_line": 321 - }, - { - "end_outermost_loop": 328, - "end_region_line": 352, - "line": "\n", - "lineno": 328, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 328, - "start_region_line": 320 - }, - { - "end_outermost_loop": 331, - "end_region_line": 331, - "line": " def add_collision_pair(self,motion_dir, collision_pair):\n", - "lineno": 329, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 329, - "start_region_line": 329 - }, - { - "end_outermost_loop": 330, - "end_region_line": 331, - "line": " self.collision_pairs.append(collision_pair)\n", - "lineno": 330, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 330, - "start_region_line": 329 - }, - { - "end_outermost_loop": 331, - "end_region_line": 331, - "line": " self.collision_dirs[collision_pair.name]=motion_dir\n", - "lineno": 331, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 331, - "start_region_line": 329 - }, - { - "end_outermost_loop": 332, - "end_region_line": 352, - "line": " \n", - "lineno": 332, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 332, - "start_region_line": 320 - }, - { - "end_outermost_loop": 334, - "end_region_line": 334, - "line": " def update_last_joint_cfg_thresh(self,thresh):\n", - "lineno": 333, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 333, - "start_region_line": 333 - }, - { - "end_outermost_loop": 334, - "end_region_line": 334, - "line": " self.in_collision['last_joint_cfg_thresh'] = thresh\n", - "lineno": 334, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 334, - "start_region_line": 333 - }, - { - "end_outermost_loop": 335, - "end_region_line": 352, - "line": "\n", - "lineno": 335, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 335, - "start_region_line": 320 - }, - { - "end_outermost_loop": 336, - "end_region_line": 352, - "line": "\n", - "lineno": 336, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 336, - "start_region_line": 320 - }, - { - "end_outermost_loop": 342, - "end_region_line": 342, - "line": " def update_collision_pair_min_dist(self,pair_name):\n", - "lineno": 337, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 337, - "start_region_line": 337 - }, - { - "end_outermost_loop": 342, - "end_region_line": 342, - "line": " for cp in self.collision_pairs:\n", - "lineno": 338, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 338 - }, - { - "end_outermost_loop": 342, - "end_region_line": 342, - "line": " if cp.name == pair_name:\n", - "lineno": 339, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 338 - }, - { - "end_outermost_loop": 342, - "end_region_line": 342, - "line": " _,dist = closest_pair_3d(cp.link_cube.pose,cp.link_pts.pose)\n", - "lineno": 340, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 338 - }, - { - "end_outermost_loop": 342, - "end_region_line": 342, - "line": " self.in_collision['las_cp_min_dist'] = {'pair_name':pair_name,'dist':dist}\n", - "lineno": 341, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 338 - }, - { - "end_outermost_loop": 342, - "end_region_line": 342, - "line": " return\n", - "lineno": 342, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 338, - "start_region_line": 338 - }, - { - "end_outermost_loop": 343, - "end_region_line": 352, - "line": "\n", - "lineno": 343, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 343, - "start_region_line": 320 - }, - { - "end_outermost_loop": 352, - "end_region_line": 352, - "line": " def pretty_print(self):\n", - "lineno": 344, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 344, - "start_region_line": 344 - }, - { - "end_outermost_loop": 345, - "end_region_line": 352, - "line": " print('-------Collision Joint: %s-----------------'%self.name)\n", - "lineno": 345, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 345, - "start_region_line": 344 - }, - { - "end_outermost_loop": 348, - "end_region_line": 348, - "line": " for cp in self.collision_pairs:\n", - "lineno": 346, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 346, - "start_region_line": 346 - }, - { - "end_outermost_loop": 348, - "end_region_line": 348, - "line": " cp.pretty_print()\n", - "lineno": 347, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 346, - "start_region_line": 346 - }, - { - "end_outermost_loop": 348, - "end_region_line": 348, - "line": " print('Motion dir: %s'%self.collision_dirs[cp.name])\n", - "lineno": 348, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 346, - "start_region_line": 346 - }, - { - "end_outermost_loop": 349, - "end_region_line": 352, - "line": " print('--Active Collisions--')\n", - "lineno": 349, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 349, - "start_region_line": 344 - }, - { - "end_outermost_loop": 350, - "end_region_line": 352, - "line": " print(self.active_collisions)\n", - "lineno": 350, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 350, - "start_region_line": 344 - }, - { - "end_outermost_loop": 352, - "end_region_line": 352, - "line": " for ac in self.active_collisions:\n", - "lineno": 351, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 351, - "start_region_line": 351 - }, - { - "end_outermost_loop": 352, - "end_region_line": 352, - "line": " print('Active Collision: %s' % ac)\n", - "lineno": 352, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 351, - "start_region_line": 351 - }, - { - "end_outermost_loop": 353, - "end_region_line": 353, - "line": "\n", - "lineno": 353, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 353, - "start_region_line": 353 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": "def _collision_compute_worker(name, shared_is_running, shared_joint_cfg, shared_collision_status, shared_joint_cfg_thresh, exit_event):\n", - "lineno": 354, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 354, - "start_region_line": 354 - }, - { - "end_outermost_loop": 355, - "end_region_line": 367, - "line": " collision_compute = RobotCollisionCompute(name)\n", - "lineno": 355, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 355, - "start_region_line": 354 - }, - { - "end_outermost_loop": 356, - "end_region_line": 367, - "line": " collision_compute.startup()\n", - "lineno": 356, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 356, - "start_region_line": 354 - }, - { - "end_outermost_loop": 357, - "end_region_line": 367, - "line": " collision_joints_status = {}\n", - "lineno": 357, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 357, - "start_region_line": 354 - }, - { - "end_outermost_loop": 358, - "end_region_line": 367, - "line": " time.sleep(0.5)\n", - "lineno": 358, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 358, - "start_region_line": 354 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " while not exit_event.is_set():\n", - "lineno": 359, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " try:\n", - "lineno": 360, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " if shared_is_running.value:\n", - "lineno": 361, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " collision_compute.step(shared_joint_cfg, shared_joint_cfg_thresh)\n", - "lineno": 362, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 367, - "end_region_line": 364, - "line": " for joint_name in collision_compute.collision_joints:\n", - "lineno": 363, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 363 - }, - { - "end_outermost_loop": 367, - "end_region_line": 364, - "line": " collision_joints_status[joint_name] = collision_compute.collision_joints[joint_name].in_collision\n", - "lineno": 364, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 363 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " shared_collision_status.put(collision_joints_status)\n", - "lineno": 365, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " except (BrokenPipeError,ConnectionResetError):\n", - "lineno": 366, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 367, - "end_region_line": 367, - "line": " pass\n", - "lineno": 367, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 359, - "start_region_line": 359 - }, - { - "end_outermost_loop": 368, - "end_region_line": 368, - "line": " \n", - "lineno": 368, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 368, - "start_region_line": 368 - }, - { - "end_outermost_loop": 476, - "end_region_line": 476, - "line": "class RobotCollisionMgmt(Device):\n", - "lineno": 369, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 369, - "start_region_line": 369 - }, - { - "end_outermost_loop": 390, - "end_region_line": 390, - "line": " def __init__(self,robot,name='robot_collision_mgmt'):\n", - "lineno": 370, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 370, - "start_region_line": 370 - }, - { - "end_outermost_loop": 371, - "end_region_line": 390, - "line": " self.name = name\n", - "lineno": 371, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 371, - "start_region_line": 370 - }, - { - "end_outermost_loop": 372, - "end_region_line": 390, - "line": " self.robot = robot\n", - "lineno": 372, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 372, - "start_region_line": 370 - }, - { - "end_outermost_loop": 373, - "end_region_line": 390, - "line": " self.shared_joint_cfg = multiprocessing.Queue()\n", - "lineno": 373, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 373, - "start_region_line": 370 - }, - { - "end_outermost_loop": 374, - "end_region_line": 390, - "line": " self.shared_collision_status = multiprocessing.Queue()\n", - "lineno": 374, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 374, - "start_region_line": 370 - }, - { - "end_outermost_loop": 375, - "end_region_line": 390, - "line": " self.shared_joint_cfg_thresh = multiprocessing.Value(ctypes.c_float, 1000.0)\n", - "lineno": 375, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 375, - "start_region_line": 370 - }, - { - "end_outermost_loop": 376, - "end_region_line": 390, - "line": " self.shared_is_running = multiprocessing.Value(ctypes.c_bool, False)\n", - "lineno": 376, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 376, - "start_region_line": 370 - }, - { - "end_outermost_loop": 377, - "end_region_line": 390, - "line": " self.exit_event = multiprocessing.Event()\n", - "lineno": 377, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 377, - "start_region_line": 370 - }, - { - "end_outermost_loop": 378, - "end_region_line": 390, - "line": " signal.signal(signal.SIGINT, self.signal_handler)\n", - "lineno": 378, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 378, - "start_region_line": 370 - }, - { - "end_outermost_loop": 379, - "end_region_line": 390, - "line": " signal.signal(signal.SIGTERM, self.signal_handler)\n", - "lineno": 379, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 379, - "start_region_line": 370 - }, - { - "end_outermost_loop": 380, - "end_region_line": 390, - "line": " self.collision_compute_proccess = multiprocessing.Process(target=_collision_compute_worker,\n", - "lineno": 380, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 380, - "start_region_line": 370 - }, - { - "end_outermost_loop": 381, - "end_region_line": 390, - "line": " name=name,\n", - "lineno": 381, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 381, - "start_region_line": 370 - }, - { - "end_outermost_loop": 382, - "end_region_line": 390, - "line": " args=(self.name,\n", - "lineno": 382, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 382, - "start_region_line": 370 - }, - { - "end_outermost_loop": 383, - "end_region_line": 390, - "line": " self.shared_is_running,\n", - "lineno": 383, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 383, - "start_region_line": 370 - }, - { - "end_outermost_loop": 384, - "end_region_line": 390, - "line": " self.shared_joint_cfg,\n", - "lineno": 384, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 384, - "start_region_line": 370 - }, - { - "end_outermost_loop": 385, - "end_region_line": 390, - "line": " self.shared_collision_status,\n", - "lineno": 385, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 385, - "start_region_line": 370 - }, - { - "end_outermost_loop": 386, - "end_region_line": 390, - "line": " self.shared_joint_cfg_thresh,\n", - "lineno": 386, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 386, - "start_region_line": 370 - }, - { - "end_outermost_loop": 387, - "end_region_line": 390, - "line": " self.exit_event,),daemon=True)\n", - "lineno": 387, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 387, - "start_region_line": 370 - }, - { - "end_outermost_loop": 388, - "end_region_line": 390, - "line": " self.running = False\n", - "lineno": 388, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 388, - "start_region_line": 370 - }, - { - "end_outermost_loop": 389, - "end_region_line": 390, - "line": " self.robot_params = RobotParams().get_params()[1]\n", - "lineno": 389, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 389, - "start_region_line": 370 - }, - { - "end_outermost_loop": 390, - "end_region_line": 390, - "line": " self.collision_status = {}\n", - "lineno": 390, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 390, - "start_region_line": 370 - }, - { - "end_outermost_loop": 391, - "end_region_line": 476, - "line": "\n", - "lineno": 391, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 391, - "start_region_line": 369 - }, - { - "end_outermost_loop": 393, - "end_region_line": 393, - "line": " def startup(self):\n", - "lineno": 392, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 392, - "start_region_line": 392 - }, - { - "end_outermost_loop": 393, - "end_region_line": 393, - "line": " self.collision_compute_proccess.start()\n", - "lineno": 393, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 393, - "start_region_line": 392 - }, - { - "end_outermost_loop": 394, - "end_region_line": 476, - "line": " \n", - "lineno": 394, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 394, - "start_region_line": 369 - }, - { - "end_outermost_loop": 399, - "end_region_line": 399, - "line": " def stop(self):\n", - "lineno": 395, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 395, - "start_region_line": 395 - }, - { - "end_outermost_loop": 396, - "end_region_line": 399, - "line": " self.exit_event.set()\n", - "lineno": 396, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 396, - "start_region_line": 395 - }, - { - "end_outermost_loop": 397, - "end_region_line": 399, - "line": " self.shared_is_running.set(False)\n", - "lineno": 397, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 397, - "start_region_line": 395 - }, - { - "end_outermost_loop": 398, - "end_region_line": 399, - "line": " self.collision_compute_proccess.terminate()\n", - "lineno": 398, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 398, - "start_region_line": 395 - }, - { - "end_outermost_loop": 399, - "end_region_line": 399, - "line": " self.collision_compute_proccess.join()\n", - "lineno": 399, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 399, - "start_region_line": 395 - }, - { - "end_outermost_loop": 400, - "end_region_line": 476, - "line": " \n", - "lineno": 400, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 400, - "start_region_line": 369 - }, - { - "end_outermost_loop": 411, - "end_region_line": 411, - "line": " def step(self):\n", - "lineno": 401, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 401, - "start_region_line": 401 - }, - { - "end_outermost_loop": 402, - "end_region_line": 411, - "line": " try:\n", - "lineno": 402, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 402, - "start_region_line": 401 - }, - { - "end_outermost_loop": 403, - "end_region_line": 411, - "line": " self.shared_is_running.value = self.running\n", - "lineno": 403, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 403, - "start_region_line": 401 - }, - { - "end_outermost_loop": 409, - "end_region_line": 411, - "line": " if self.running:\n", - "lineno": 404, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 404, - "start_region_line": 401 - }, - { - "end_outermost_loop": 405, - "end_region_line": 411, - "line": " self.shared_joint_cfg_thresh.value = self.get_normalized_cfg_threshold()\n", - "lineno": 405, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 405, - "start_region_line": 401 - }, - { - "end_outermost_loop": 406, - "end_region_line": 411, - "line": " self.shared_joint_cfg.put(self.get_joint_configuration(braked=True))\n", - "lineno": 406, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 406, - "start_region_line": 401 - }, - { - "end_outermost_loop": 407, - "end_region_line": 411, - "line": " self.collision_status.update(self.shared_collision_status.get())\n", - "lineno": 407, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 407, - "start_region_line": 401 - }, - { - "end_outermost_loop": 408, - "end_region_line": 409, - "line": " for j in self.collision_status.keys():\n", - "lineno": 408, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 408, - "start_region_line": 408 - }, - { - "end_outermost_loop": 409, - "end_region_line": 409, - "line": " self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j])\n", - "lineno": 409, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 409, - "start_region_line": 408 - }, - { - "end_outermost_loop": 410, - "end_region_line": 411, - "line": " except (BrokenPipeError,ConnectionResetError):\n", - "lineno": 410, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 410, - "start_region_line": 401 - }, - { - "end_outermost_loop": 411, - "end_region_line": 411, - "line": " pass\n", - "lineno": 411, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 411, - "start_region_line": 401 - }, - { - "end_outermost_loop": 412, - "end_region_line": 476, - "line": "\n", - "lineno": 412, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 412, - "start_region_line": 369 - }, - { - "end_outermost_loop": 414, - "end_region_line": 414, - "line": " def signal_handler(self, signal_received, frame):\n", - "lineno": 413, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 413, - "start_region_line": 413 - }, - { - "end_outermost_loop": 414, - "end_region_line": 414, - "line": " self.exit_event.set()\n", - "lineno": 414, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 414, - "start_region_line": 413 - }, - { - "end_outermost_loop": 415, - "end_region_line": 476, - "line": " \n", - "lineno": 415, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 415, - "start_region_line": 369 - }, - { - "end_outermost_loop": 426, - "end_region_line": 426, - "line": " def get_joint_motor(self,joint_name):\n", - "lineno": 416, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 416, - "start_region_line": 416 - }, - { - "end_outermost_loop": 418, - "end_region_line": 426, - "line": " if joint_name=='lift':\n", - "lineno": 417, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 417, - "start_region_line": 416 - }, - { - "end_outermost_loop": 418, - "end_region_line": 426, - "line": " return self.robot.lift\n", - "lineno": 418, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 418, - "start_region_line": 416 - }, - { - "end_outermost_loop": 420, - "end_region_line": 426, - "line": " if joint_name=='arm':\n", - "lineno": 419, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 419, - "start_region_line": 416 - }, - { - "end_outermost_loop": 420, - "end_region_line": 426, - "line": " return self.robot.arm\n", - "lineno": 420, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 420, - "start_region_line": 416 - }, - { - "end_outermost_loop": 422, - "end_region_line": 426, - "line": " if joint_name=='head_pan':\n", - "lineno": 421, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 421, - "start_region_line": 416 - }, - { - "end_outermost_loop": 422, - "end_region_line": 426, - "line": " return self.robot.head.get_joint('head_pan')\n", - "lineno": 422, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 422, - "start_region_line": 416 - }, - { - "end_outermost_loop": 424, - "end_region_line": 426, - "line": " if joint_name=='head_tilt':\n", - "lineno": 423, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 423, - "start_region_line": 416 - }, - { - "end_outermost_loop": 424, - "end_region_line": 426, - "line": " return self.robot.head.get_joint('head_tilt')\n", - "lineno": 424, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 424, - "start_region_line": 416 - }, - { - "end_outermost_loop": 426, - "end_region_line": 426, - "line": " #Try the tool\n", - "lineno": 425, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 416, - "start_region_line": 416 - }, - { - "end_outermost_loop": 426, - "end_region_line": 426, - "line": " return self.robot.end_of_arm.get_joint(joint_name)\n", - "lineno": 426, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 426, - "start_region_line": 416 - }, - { - "end_outermost_loop": 427, - "end_region_line": 476, - "line": "\n", - "lineno": 427, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 427, - "start_region_line": 369 - }, - { - "end_outermost_loop": 440, - "end_region_line": 440, - "line": " def get_normalized_cfg_threshold(self):\n", - "lineno": 428, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 428, - "start_region_line": 428 - }, - { - "end_outermost_loop": 429, - "end_region_line": 440, - "line": " arm_pos = self.robot.status['arm']['pos']/(0.5)\n", - "lineno": 429, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 429, - "start_region_line": 428 - }, - { - "end_outermost_loop": 430, - "end_region_line": 440, - "line": " lift_pos = self.robot.status['lift']['pos']/(1.1)\n", - "lineno": 430, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 430, - "start_region_line": 428 - }, - { - "end_outermost_loop": 431, - "end_region_line": 440, - "line": " head_pan_pos = (self.robot.status['head']['head_pan']['pos_ticks']- self.robot_params['head_pan']['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0])\n", - "lineno": 431, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 431, - "start_region_line": 428 - }, - { - "end_outermost_loop": 432, - "end_region_line": 440, - "line": " head_tilt_pos = (self.robot.status['head']['head_tilt']['pos_ticks']- self.robot_params['head_tilt']['range_t'][0])/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0])\n", - "lineno": 432, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 432, - "start_region_line": 428 - }, - { - "end_outermost_loop": 433, - "end_region_line": 440, - "line": " thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos\n", - "lineno": 433, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 433, - "start_region_line": 428 - }, - { - "end_outermost_loop": 434, - "end_region_line": 440, - "line": " i = 0\n", - "lineno": 434, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 434, - "start_region_line": 428 - }, - { - "end_outermost_loop": 438, - "end_region_line": 438, - "line": " for j in self.robot.end_of_arm.joints:\n", - "lineno": 435, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 435, - "start_region_line": 435 - }, - { - "end_outermost_loop": 438, - "end_region_line": 438, - "line": " value = (self.robot.status['end_of_arm'][j]['pos_ticks']- self.robot_params[j]['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0])\n", - "lineno": 436, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 435, - "start_region_line": 435 - }, - { - "end_outermost_loop": 438, - "end_region_line": 438, - "line": " thresh = thresh + value\n", - "lineno": 437, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 435, - "start_region_line": 435 - }, - { - "end_outermost_loop": 438, - "end_region_line": 438, - "line": " i = i + 1\n", - "lineno": 438, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 435, - "start_region_line": 435 - }, - { - "end_outermost_loop": 439, - "end_region_line": 440, - "line": " thresh = thresh/(4+i)\n", - "lineno": 439, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 439, - "start_region_line": 428 - }, - { - "end_outermost_loop": 440, - "end_region_line": 440, - "line": " return float(thresh)\n", - "lineno": 440, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 440, - "start_region_line": 428 - }, - { - "end_outermost_loop": 441, - "end_region_line": 476, - "line": " \n", - "lineno": 441, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 441, - "start_region_line": 369 - }, - { - "end_outermost_loop": 470, - "end_region_line": 470, - "line": " def get_joint_configuration(self,braked=False):\n", - "lineno": 442, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 442, - "start_region_line": 442 - }, - { - "end_outermost_loop": 443, - "end_region_line": 470, - "line": " \"\"\"\n", - "lineno": 443, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 443, - "start_region_line": 442 - }, - { - "end_outermost_loop": 444, - "end_region_line": 470, - "line": " Construct a dictionary of robot's current pose\n", - "lineno": 444, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 444, - "start_region_line": 442 - }, - { - "end_outermost_loop": 445, - "end_region_line": 470, - "line": " \"\"\"\n", - "lineno": 445, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 445, - "start_region_line": 442 - }, - { - "end_outermost_loop": 446, - "end_region_line": 470, - "line": " s = self.robot.get_status()\n", - "lineno": 446, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 446, - "start_region_line": 442 - }, - { - "end_outermost_loop": 447, - "end_region_line": 470, - "line": " kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance']\n", - "lineno": 447, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 447, - "start_region_line": 442 - }, - { - "end_outermost_loop": 457, - "end_region_line": 470, - "line": " if braked:\n", - "lineno": 448, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 448, - "start_region_line": 442 - }, - { - "end_outermost_loop": 449, - "end_region_line": 470, - "line": " da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0\n", - "lineno": 449, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 449, - "start_region_line": 442 - }, - { - "end_outermost_loop": 450, - "end_region_line": 470, - "line": " dl=kbd['lift']*self.robot.lift.get_braking_distance()\n", - "lineno": 450, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 450, - "start_region_line": 442 - }, - { - "end_outermost_loop": 451, - "end_region_line": 470, - "line": " dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance()\n", - "lineno": 451, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 451, - "start_region_line": 442 - }, - { - "end_outermost_loop": 452, - "end_region_line": 470, - "line": " dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance()\n", - "lineno": 452, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 452, - "start_region_line": 442 - }, - { - "end_outermost_loop": 457, - "end_region_line": 470, - "line": " else:\n", - "lineno": 453, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 448, - "start_region_line": 442 - }, - { - "end_outermost_loop": 454, - "end_region_line": 470, - "line": " da=0.0\n", - "lineno": 454, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 454, - "start_region_line": 442 - }, - { - "end_outermost_loop": 455, - "end_region_line": 470, - "line": " dl=0.0\n", - "lineno": 455, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 455, - "start_region_line": 442 - }, - { - "end_outermost_loop": 456, - "end_region_line": 470, - "line": " dhp=0.0\n", - "lineno": 456, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 456, - "start_region_line": 442 - }, - { - "end_outermost_loop": 457, - "end_region_line": 470, - "line": " dht=0.0\n", - "lineno": 457, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 457, - "start_region_line": 442 - }, - { - "end_outermost_loop": 458, - "end_region_line": 470, - "line": "\n", - "lineno": 458, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 458, - "start_region_line": 442 - }, - { - "end_outermost_loop": 459, - "end_region_line": 470, - "line": " configuration = {\n", - "lineno": 459, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 459, - "start_region_line": 442 - }, - { - "end_outermost_loop": 460, - "end_region_line": 470, - "line": " 'joint_lift': dl+s['lift']['pos'],\n", - "lineno": 460, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 460, - "start_region_line": 442 - }, - { - "end_outermost_loop": 461, - "end_region_line": 470, - "line": " 'joint_arm_l0': da+s['arm']['pos']/4.0,\n", - "lineno": 461, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 461, - "start_region_line": 442 - }, - { - "end_outermost_loop": 462, - "end_region_line": 470, - "line": " 'joint_arm_l1': da+s['arm']['pos']/4.0,\n", - "lineno": 462, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 462, - "start_region_line": 442 - }, - { - "end_outermost_loop": 463, - "end_region_line": 470, - "line": " 'joint_arm_l2': da+s['arm']['pos']/4.0,\n", - "lineno": 463, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 463, - "start_region_line": 442 - }, - { - "end_outermost_loop": 464, - "end_region_line": 470, - "line": " 'joint_arm_l3': da+s['arm']['pos']/4.0,\n", - "lineno": 464, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 464, - "start_region_line": 442 - }, - { - "end_outermost_loop": 465, - "end_region_line": 470, - "line": " 'joint_head_pan': dhp+s['head']['head_pan']['pos'],\n", - "lineno": 465, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 465, - "start_region_line": 442 - }, - { - "end_outermost_loop": 466, - "end_region_line": 470, - "line": " 'joint_head_tilt': dht+s['head']['head_tilt']['pos']\n", - "lineno": 466, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 466, - "start_region_line": 442 - }, - { - "end_outermost_loop": 467, - "end_region_line": 470, - "line": " }\n", - "lineno": 467, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 467, - "start_region_line": 442 - }, - { - "end_outermost_loop": 468, - "end_region_line": 470, - "line": "\n", - "lineno": 468, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 468, - "start_region_line": 442 - }, - { - "end_outermost_loop": 469, - "end_region_line": 470, - "line": " configuration.update(self.robot.end_of_arm.get_joint_configuration(braked))\n", - "lineno": 469, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 469, - "start_region_line": 442 - }, - { - "end_outermost_loop": 470, - "end_region_line": 470, - "line": " return configuration\n", - "lineno": 470, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 470, - "start_region_line": 442 - }, - { - "end_outermost_loop": 471, - "end_region_line": 476, - "line": " \n", - "lineno": 471, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 471, - "start_region_line": 369 - }, - { - "end_outermost_loop": 473, - "end_region_line": 473, - "line": " def enable(self):\n", - "lineno": 472, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 472, - "start_region_line": 472 - }, - { - "end_outermost_loop": 473, - "end_region_line": 473, - "line": " self.running=True\n", - "lineno": 473, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 473, - "start_region_line": 472 - }, - { - "end_outermost_loop": 474, - "end_region_line": 476, - "line": "\n", - "lineno": 474, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 474, - "start_region_line": 369 - }, - { - "end_outermost_loop": 476, - "end_region_line": 476, - "line": " def disable(self):\n", - "lineno": 475, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 475, - "start_region_line": 475 - }, - { - "end_outermost_loop": 476, - "end_region_line": 476, - "line": " self.running=False\n", - "lineno": 476, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 476, - "start_region_line": 475 - }, - { - "end_outermost_loop": 477, - "end_region_line": 477, - "line": "\n", - "lineno": 477, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 477, - "start_region_line": 477 - }, - { - "end_outermost_loop": 651, - "end_region_line": 651, - "line": "class RobotCollisionCompute(Device):\n", - "lineno": 478, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 478, - "start_region_line": 478 - }, - { - "end_outermost_loop": 499, - "end_region_line": 499, - "line": " def __init__(self,name='robot_collision_mgmt'):\n", - "lineno": 479, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 479, - "start_region_line": 479 - }, - { - "end_outermost_loop": 480, - "end_region_line": 499, - "line": " \"\"\"\n", - "lineno": 480, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 480, - "start_region_line": 479 - }, - { - "end_outermost_loop": 481, - "end_region_line": 499, - "line": " RobotCollisionMgmt monitors for collisions between links.\n", - "lineno": 481, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 481, - "start_region_line": 479 - }, - { - "end_outermost_loop": 482, - "end_region_line": 499, - "line": " It utilizes the Collision mesh for collision estimation.\n", - "lineno": 482, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 482, - "start_region_line": 479 - }, - { - "end_outermost_loop": 483, - "end_region_line": 499, - "line": " Given the Cartesian structure of Stretch we simplify the collision detection in order to achieve real-time speeds.\n", - "lineno": 483, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 483, - "start_region_line": 479 - }, - { - "end_outermost_loop": 484, - "end_region_line": 499, - "line": " We simplify the problem by assuming:\n", - "lineno": 484, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 484, - "start_region_line": 479 - }, - { - "end_outermost_loop": 485, - "end_region_line": 499, - "line": " * One of the collision meshes (\"cube\") is a cube that is aligned with XYZ axis (eg AABB)\n", - "lineno": 485, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 485, - "start_region_line": 479 - }, - { - "end_outermost_loop": 486, - "end_region_line": 499, - "line": " * The other collision mesh (\"pts\") is simple shape of just a few points (eg, a cube, trapezoid, etc)\\u003cmax_mesh_points\n", - "lineno": 486, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 486, - "start_region_line": 479 - }, - { - "end_outermost_loop": 487, - "end_region_line": 499, - "line": "\n", - "lineno": 487, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 487, - "start_region_line": 479 - }, - { - "end_outermost_loop": 488, - "end_region_line": 499, - "line": " The params define which links we want to monitor collisions between.\n", - "lineno": 488, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 488, - "start_region_line": 479 - }, - { - "end_outermost_loop": 489, - "end_region_line": 499, - "line": " Each link includes a parameter \"scale_pct\" which allows the mesh size to be expanded by a percentage around its centroid\n", - "lineno": 489, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 489, - "start_region_line": 479 - }, - { - "end_outermost_loop": 490, - "end_region_line": 499, - "line": " enabling the ability to increase the safety zone.\n", - "lineno": 490, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 490, - "start_region_line": 479 - }, - { - "end_outermost_loop": 491, - "end_region_line": 499, - "line": " \"\"\"\n", - "lineno": 491, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 491, - "start_region_line": 479 - }, - { - "end_outermost_loop": 492, - "end_region_line": 499, - "line": " Device.__init__(self, name)\n", - "lineno": 492, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 492, - "start_region_line": 479 - }, - { - "end_outermost_loop": 493, - "end_region_line": 499, - "line": " self.collision_joints = {}\n", - "lineno": 493, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 493, - "start_region_line": 479 - }, - { - "end_outermost_loop": 494, - "end_region_line": 499, - "line": " self.collision_links = {}\n", - "lineno": 494, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 494, - "start_region_line": 479 - }, - { - "end_outermost_loop": 495, - "end_region_line": 499, - "line": " self.collision_pairs = {}\n", - "lineno": 495, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 495, - "start_region_line": 479 - }, - { - "end_outermost_loop": 496, - "end_region_line": 499, - "line": " chime.theme('big-sur') #'material')\n", - "lineno": 496, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 496, - "start_region_line": 479 - }, - { - "end_outermost_loop": 497, - "end_region_line": 499, - "line": " self.urdf=None\n", - "lineno": 497, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 497, - "start_region_line": 479 - }, - { - "end_outermost_loop": 498, - "end_region_line": 499, - "line": " self.prev_loop_start_ts = None\n", - "lineno": 498, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 498, - "start_region_line": 479 - }, - { - "end_outermost_loop": 499, - "end_region_line": 499, - "line": " self.robot_params = RobotParams().get_params()[1]\n", - "lineno": 499, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 499, - "start_region_line": 479 - }, - { - "end_outermost_loop": 500, - "end_region_line": 651, - "line": "\n", - "lineno": 500, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 500, - "start_region_line": 478 - }, - { - "end_outermost_loop": 503, - "end_region_line": 503, - "line": " def pretty_print(self):\n", - "lineno": 501, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 501, - "start_region_line": 501 - }, - { - "end_outermost_loop": 503, - "end_region_line": 503, - "line": " for j in self.collision_joints:\n", - "lineno": 502, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 502, - "start_region_line": 502 - }, - { - "end_outermost_loop": 503, - "end_region_line": 503, - "line": " self.collision_joints[j].pretty_print()\n", - "lineno": 503, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 502, - "start_region_line": 502 - }, - { - "end_outermost_loop": 504, - "end_region_line": 651, - "line": "\n", - "lineno": 504, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 504, - "start_region_line": 478 - }, - { - "end_outermost_loop": 505, - "end_region_line": 651, - "line": "\n", - "lineno": 505, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 505, - "start_region_line": 478 - }, - { - "end_outermost_loop": 506, - "end_region_line": 651, - "line": " \n", - "lineno": 506, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 506, - "start_region_line": 478 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " def startup(self,threaded=False):\n", - "lineno": 507, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 507 - }, - { - "end_outermost_loop": 508, - "end_region_line": 562, - "line": " Device.startup(self, threaded)\n", - "lineno": 508, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 508, - "start_region_line": 507 - }, - { - "end_outermost_loop": 509, - "end_region_line": 562, - "line": " pkg = str(importlib_resources.files(\"stretch_urdf\")) # .local/lib/python3.10/site-packages/stretch_urdf)\n", - "lineno": 509, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 509, - "start_region_line": 507 - }, - { - "end_outermost_loop": 510, - "end_region_line": 562, - "line": " model_name = self.robot_params['robot']['model_name']\n", - "lineno": 510, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 510, - "start_region_line": 507 - }, - { - "end_outermost_loop": 511, - "end_region_line": 562, - "line": " eoa_name= self.robot_params['robot']['tool']\n", - "lineno": 511, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 511, - "start_region_line": 507 - }, - { - "end_outermost_loop": 512, - "end_region_line": 562, - "line": " urdf_name = pkg + '/%s/stretch_description_%s_%s.urdf' % (model_name, model_name, eoa_name)\n", - "lineno": 512, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 512, - "start_region_line": 507 - }, - { - "end_outermost_loop": 513, - "end_region_line": 562, - "line": " mesh_path = pkg + '/%s/' % (model_name)\n", - "lineno": 513, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 513, - "start_region_line": 507 - }, - { - "end_outermost_loop": 514, - "end_region_line": 562, - "line": "\n", - "lineno": 514, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 514, - "start_region_line": 507 - }, - { - "end_outermost_loop": 518, - "end_region_line": 562, - "line": " if self.params[model_name]=={}:\n", - "lineno": 515, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 507 - }, - { - "end_outermost_loop": 518, - "end_region_line": 562, - "line": " #self.logger.warning('Collision parameters not present. Disabling collision system.')\n", - "lineno": 516, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 515, - "start_region_line": 507 - }, - { - "end_outermost_loop": 517, - "end_region_line": 562, - "line": " self.running = False\n", - "lineno": 517, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 517, - "start_region_line": 507 - }, - { - "end_outermost_loop": 518, - "end_region_line": 562, - "line": " return\n", - "lineno": 518, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 518, - "start_region_line": 507 - }, - { - "end_outermost_loop": 519, - "end_region_line": 562, - "line": "\n", - "lineno": 519, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 519, - "start_region_line": 507 - }, - { - "end_outermost_loop": 520, - "end_region_line": 562, - "line": " try:\n", - "lineno": 520, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 520, - "start_region_line": 507 - }, - { - "end_outermost_loop": 521, - "end_region_line": 562, - "line": " self.urdf = urdf_loader.URDF.load(urdf_name)\n", - "lineno": 521, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 521, - "start_region_line": 507 - }, - { - "end_outermost_loop": 522, - "end_region_line": 562, - "line": " except ValueError:\n", - "lineno": 522, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 522, - "start_region_line": 507 - }, - { - "end_outermost_loop": 523, - "end_region_line": 562, - "line": " print('Unable to load URDF: %s. Disabling collision system.' % urdf_name)\n", - "lineno": 523, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 523, - "start_region_line": 507 - }, - { - "end_outermost_loop": 524, - "end_region_line": 562, - "line": " self.urdf = None\n", - "lineno": 524, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 524, - "start_region_line": 507 - }, - { - "end_outermost_loop": 525, - "end_region_line": 562, - "line": " self.running = False\n", - "lineno": 525, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 525, - "start_region_line": 507 - }, - { - "end_outermost_loop": 526, - "end_region_line": 562, - "line": " return\n", - "lineno": 526, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 526, - "start_region_line": 507 - }, - { - "end_outermost_loop": 527, - "end_region_line": 562, - "line": "\n", - "lineno": 527, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 527, - "start_region_line": 507 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " #Construct collision pairs\n", - "lineno": 528, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 507 - }, - { - "end_outermost_loop": 529, - "end_region_line": 562, - "line": " cp_dict = self.params[model_name]['collision_pairs']\n", - "lineno": 529, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 529, - "start_region_line": 507 - }, - { - "end_outermost_loop": 530, - "end_region_line": 562, - "line": " cp_dict.update(self.robot_params[eoa_name]['collision_mgmt']['collision_pairs'])\n", - "lineno": 530, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 530, - "start_region_line": 507 - }, - { - "end_outermost_loop": 531, - "end_region_line": 562, - "line": "\n", - "lineno": 531, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 531, - "start_region_line": 507 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " for cp_name in cp_dict:\n", - "lineno": 532, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " cp=cp_dict[cp_name] #Eg {'link_pts': 'link_head_tilt', 'link_cube': 'link_arm_l4','detect_as':'pts'}\n", - "lineno": 533, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " if cp['link_pts'] not in self.collision_links:\n", - "lineno": 534, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " self.collision_links[cp['link_pts']] = CollisionLink(cp['link_pts'], self.urdf, mesh_path,\n", - "lineno": 535, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " self.params['max_mesh_points'])\n", - "lineno": 536, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " if cp['link_cube'] not in self.collision_links:\n", - "lineno": 537, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " self.collision_links[cp['link_cube']] = CollisionLink(cp['link_cube'], self.urdf, mesh_path,\n", - "lineno": 538, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " self.params['max_mesh_points'])\n", - "lineno": 539, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " self.collision_pairs[cp_name] = CollisionPair(name=cp_name,\n", - "lineno": 540, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " link_pts=self.collision_links[cp['link_pts']],\n", - "lineno": 541, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " link_cube=self.collision_links[cp['link_cube']],\n", - "lineno": 542, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 543, - "end_region_line": 543, - "line": " detect_as=cp['detect_as'])\n", - "lineno": 543, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 532, - "start_region_line": 532 - }, - { - "end_outermost_loop": 544, - "end_region_line": 562, - "line": "\n", - "lineno": 544, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 544, - "start_region_line": 507 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " #Assign collision pairs to each joint\n", - "lineno": 545, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 507 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " #Include those of standard robot body plus its defined tool\n", - "lineno": 546, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 507 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " # EG collision_joints={'lift':[{collision_1},{collision_2...}],'head_pan':[...]}\n", - "lineno": 547, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 507, - "start_region_line": 507 - }, - { - "end_outermost_loop": 548, - "end_region_line": 562, - "line": " cj_dict=self.params[model_name]['joints']\n", - "lineno": 548, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 548, - "start_region_line": 507 - }, - { - "end_outermost_loop": 549, - "end_region_line": 562, - "line": " eoa_cj_dict=self.robot_params[eoa_name]['collision_mgmt']['joints']\n", - "lineno": 549, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 549, - "start_region_line": 507 - }, - { - "end_outermost_loop": 550, - "end_region_line": 562, - "line": "\n", - "lineno": 550, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 550, - "start_region_line": 507 - }, - { - "end_outermost_loop": 555, - "end_region_line": 555, - "line": " for tt in eoa_cj_dict:\n", - "lineno": 551, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 551, - "start_region_line": 551 - }, - { - "end_outermost_loop": 555, - "end_region_line": 555, - "line": " if tt in cj_dict:\n", - "lineno": 552, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 551, - "start_region_line": 551 - }, - { - "end_outermost_loop": 555, - "end_region_line": 555, - "line": " cj_dict[tt]+=eoa_cj_dict[tt]\n", - "lineno": 553, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 551, - "start_region_line": 551 - }, - { - "end_outermost_loop": 555, - "end_region_line": 555, - "line": " else:\n", - "lineno": 554, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 551, - "start_region_line": 551 - }, - { - "end_outermost_loop": 555, - "end_region_line": 555, - "line": " cj_dict[tt]=eoa_cj_dict[tt]\n", - "lineno": 555, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 551, - "start_region_line": 551 - }, - { - "end_outermost_loop": 556, - "end_region_line": 562, - "line": "\n", - "lineno": 556, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 556, - "start_region_line": 507 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " for joint_name in cj_dict:\n", - "lineno": 557, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 557 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " self.collision_joints[joint_name]=CollisionJoint(joint_name)\n", - "lineno": 558, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 557 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " cp_list = cj_dict[joint_name]\n", - "lineno": 559, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 557 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " for cp in cp_list: #eg cp={'motion_dir': 'pos', 'collision_pair': 'link_head_tilt_TO_link_arm_l4'}\n", - "lineno": 560, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 560 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " self.collision_joints[joint_name].add_collision_pair(motion_dir=cp['motion_dir'],\n", - "lineno": 561, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 560 - }, - { - "end_outermost_loop": 562, - "end_region_line": 562, - "line": " collision_pair=self.collision_pairs[cp['collision_pair']])\n", - "lineno": 562, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 557, - "start_region_line": 560 - }, - { - "end_outermost_loop": 563, - "end_region_line": 651, - "line": " \n", - "lineno": 563, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 563, - "start_region_line": 478 - }, - { - "end_outermost_loop": 564, - "end_region_line": 651, - "line": "\n", - "lineno": 564, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 564, - "start_region_line": 478 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " def step(self,cfg=None, joint_cfg_thresh=None):\n", - "lineno": 565, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 566, - "end_region_line": 632, - "line": " \"\"\"\n", - "lineno": 566, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 566, - "start_region_line": 565 - }, - { - "end_outermost_loop": 567, - "end_region_line": 632, - "line": " Check for interference between cube pairs\n", - "lineno": 567, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 567, - "start_region_line": 565 - }, - { - "end_outermost_loop": 568, - "end_region_line": 632, - "line": " \"\"\"\n", - "lineno": 568, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 568, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # if self.prev_loop_start_ts:\n", - "lineno": 569, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # print(f\"[{self.name}] Step exec time: {(time.perf_counter()-self.prev_loop_start_ts)*1000}ms\")\n", - "lineno": 570, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 571, - "end_region_line": 632, - "line": " \n", - "lineno": 571, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 571, - "start_region_line": 565 - }, - { - "end_outermost_loop": 573, - "end_region_line": 632, - "line": " if self.urdf is None:\n", - "lineno": 572, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 572, - "start_region_line": 565 - }, - { - "end_outermost_loop": 573, - "end_region_line": 632, - "line": " return\n", - "lineno": 573, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 573, - "start_region_line": 565 - }, - { - "end_outermost_loop": 574, - "end_region_line": 632, - "line": "\n", - "lineno": 574, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 574, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # if cfg is None:\n", - "lineno": 575, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # cfg = self.get_joint_configuration(braked=True)#_braked()\n", - "lineno": 576, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 577, - "end_region_line": 632, - "line": "\n", - "lineno": 577, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 577, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # Update forward kinematics of links\n", - "lineno": 578, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 579, - "end_region_line": 632, - "line": " _cfg = cfg.get()\n", - "lineno": 579, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 579, - "start_region_line": 565 - }, - { - "end_outermost_loop": 580, - "end_region_line": 632, - "line": " lfk = self.urdf.link_fk(cfg=_cfg, links=self.collision_links.keys(), use_names=True)\n", - "lineno": 580, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 580, - "start_region_line": 565 - }, - { - "end_outermost_loop": 581, - "end_region_line": 632, - "line": "\n", - "lineno": 581, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 581, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # Update poses of links based on fk\n", - "lineno": 582, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 585, - "end_region_line": 585, - "line": " for link_name in lfk: \n", - "lineno": 583, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 583, - "start_region_line": 583 - }, - { - "end_outermost_loop": 585, - "end_region_line": 585, - "line": " self.collision_links[link_name].set_pose(lfk[link_name].dot(\n", - "lineno": 584, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 583, - "start_region_line": 583 - }, - { - "end_outermost_loop": 585, - "end_region_line": 585, - "line": " self.collision_links[link_name].points.transpose()).transpose())\n", - "lineno": 585, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 583, - "start_region_line": 583 - }, - { - "end_outermost_loop": 586, - "end_region_line": 632, - "line": "\n", - "lineno": 586, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 586, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # Reset each link / joint status before updating\n", - "lineno": 587, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 590, - "end_region_line": 590, - "line": " for link_name in self.collision_links:\n", - "lineno": 588, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 588, - "start_region_line": 588 - }, - { - "end_outermost_loop": 590, - "end_region_line": 590, - "line": " self.collision_links[link_name].was_in_collision =self.collision_links[link_name].in_collision\n", - "lineno": 589, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 588, - "start_region_line": 588 - }, - { - "end_outermost_loop": 590, - "end_region_line": 590, - "line": " self.collision_links[link_name].in_collision=False\n", - "lineno": 590, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 588, - "start_region_line": 588 - }, - { - "end_outermost_loop": 596, - "end_region_line": 596, - "line": " for joint_name in self.collision_joints:\n", - "lineno": 591, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 591 - }, - { - "end_outermost_loop": 596, - "end_region_line": 596, - "line": " self.collision_joints[joint_name].active_collisions=[]\n", - "lineno": 592, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 591 - }, - { - "end_outermost_loop": 596, - "end_region_line": 596, - "line": " self.collision_joints[joint_name].was_in_collision = self.collision_joints[joint_name].in_collision.copy()\n", - "lineno": 593, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 591 - }, - { - "end_outermost_loop": 596, - "end_region_line": 596, - "line": " # self.collision_joints[joint_name].in_collision = {'pos': False, 'neg': False, 'min_dist_pair':None}\n", - "lineno": 594, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 591 - }, - { - "end_outermost_loop": 596, - "end_region_line": 596, - "line": " self.collision_joints[joint_name].in_collision['pos'] = False\n", - "lineno": 595, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 591 - }, - { - "end_outermost_loop": 596, - "end_region_line": 596, - "line": " self.collision_joints[joint_name].in_collision['neg'] = False\n", - "lineno": 596, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 591, - "start_region_line": 591 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # Test for collisions across all collision pairs\n", - "lineno": 597, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " for pair_name in self.collision_pairs:\n", - "lineno": 598, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " cp=self.collision_pairs[pair_name]\n", - "lineno": 599, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " if cp.is_valid:\n", - "lineno": 600, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " cp.was_in_collision=cp.in_collision\n", - "lineno": 601, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " if cp.detect_as=='pts':\n", - "lineno": 602, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " cp.in_collision=check_pts_in_AABB_cube(cube=cp.link_cube.pose,pts=cp.link_pts.pose)\n", - "lineno": 603, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " # cp.in_collision=check_AABB_in_AABB_from_pts(pts1=cp.link_cube.pose,pts2=cp.link_pts.pose)\n", - "lineno": 604, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " elif cp.detect_as=='edges':\n", - "lineno": 605, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " cp.in_collision = check_mesh_triangle_edges_in_cube(mesh_triangles=cp.link_pts.get_triangles(),cube=cp.link_cube.pose)\n", - "lineno": 606, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " else:\n", - "lineno": 607, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " cp.in_collision =False\n", - "lineno": 608, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " #cp.pretty_print()\n", - "lineno": 609, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": "\n", - "lineno": 610, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " #Propogate to links\n", - "lineno": 611, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " self.collision_links[cp.link_cube.name].in_collision=self.collision_links[cp.link_cube.name].in_collision or cp.in_collision\n", - "lineno": 612, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " self.collision_links[cp.link_pts.name].in_collision =self.collision_links[cp.link_pts.name].in_collision or cp.in_collision\n", - "lineno": 613, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": "\n", - "lineno": 614, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " # Beep on new collision\n", - "lineno": 615, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " if not self.collision_pairs[pair_name].was_in_collision and self.collision_pairs[pair_name].in_collision:\n", - "lineno": 616, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " print(f'New collision pair event: {pair_name}' )\n", - "lineno": 617, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 618, - "end_region_line": 618, - "line": " self.alert()\n", - "lineno": 618, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 598, - "start_region_line": 598 - }, - { - "end_outermost_loop": 619, - "end_region_line": 632, - "line": "\n", - "lineno": 619, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 619, - "start_region_line": 565 - }, - { - "end_outermost_loop": 620, - "end_region_line": 632, - "line": " normalized_joint_status_thresh = joint_cfg_thresh.value\n", - "lineno": 620, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 620, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # print(f\"From Process: Normal CFG = {normalized_joint_status_thresh}\")\n", - "lineno": 621, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " #Now update joint state\n", - "lineno": 622, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " for joint_name in self.collision_joints:\n", - "lineno": 623, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 623 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " cj = self.collision_joints[joint_name]\n", - "lineno": 624, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 623 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " cj.update_last_joint_cfg_thresh(normalized_joint_status_thresh)\n", - "lineno": 625, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 623 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " for cp in cj.collision_pairs:\n", - "lineno": 626, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 626 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " if cp.in_collision:\n", - "lineno": 627, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 626 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " cj.active_collisions.append(cp.name) #Add collision to joint\n", - "lineno": 628, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 626 - }, - { - "end_outermost_loop": 629, - "end_region_line": 629, - "line": " cj.in_collision[cj.collision_dirs[cp.name]] = True\n", - "lineno": 629, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 623, - "start_region_line": 626 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # print(f\"From Process: {joint_name} = {self.collision_joints[joint_name].in_collision}\")\n", - "lineno": 630, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " # self.collision_joints[joint_name].motor.step_collision_avoidance(self.collision_joints[joint_name].in_collision)\n", - "lineno": 631, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 565, - "start_region_line": 565 - }, - { - "end_outermost_loop": 632, - "end_region_line": 632, - "line": " self.prev_loop_start_ts = time.perf_counter()\n", - "lineno": 632, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 632, - "start_region_line": 565 - }, - { - "end_outermost_loop": 633, - "end_region_line": 651, - "line": " \n", - "lineno": 633, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 633, - "start_region_line": 478 - }, - { - "end_outermost_loop": 635, - "end_region_line": 635, - "line": " def alert(self):\n", - "lineno": 634, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 634, - "start_region_line": 634 - }, - { - "end_outermost_loop": 635, - "end_region_line": 635, - "line": " threading.Thread(target=chime.warning,daemon=True).start()\n", - "lineno": 635, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 635, - "start_region_line": 634 - }, - { - "end_outermost_loop": 636, - "end_region_line": 651, - "line": "\n", - "lineno": 636, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 636, - "start_region_line": 478 - }, - { - "end_outermost_loop": 643, - "end_region_line": 643, - "line": " def is_link_in_collsion(self,link_name):\n", - "lineno": 637, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 637, - "start_region_line": 637 - }, - { - "end_outermost_loop": 639, - "end_region_line": 643, - "line": " if self.urdf is None:\n", - "lineno": 638, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 638, - "start_region_line": 637 - }, - { - "end_outermost_loop": 639, - "end_region_line": 643, - "line": " return False\n", - "lineno": 639, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 639, - "start_region_line": 637 - }, - { - "end_outermost_loop": 640, - "end_region_line": 643, - "line": " try:\n", - "lineno": 640, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 640, - "start_region_line": 637 - }, - { - "end_outermost_loop": 641, - "end_region_line": 643, - "line": " return self.collision_links[link_name].in_collision\n", - "lineno": 641, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 641, - "start_region_line": 637 - }, - { - "end_outermost_loop": 642, - "end_region_line": 643, - "line": " except KeyError: #Not all links will be monitored\n", - "lineno": 642, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 642, - "start_region_line": 637 - }, - { - "end_outermost_loop": 643, - "end_region_line": 643, - "line": " return False\n", - "lineno": 643, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 643, - "start_region_line": 637 - }, - { - "end_outermost_loop": 644, - "end_region_line": 651, - "line": "\n", - "lineno": 644, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 644, - "start_region_line": 478 - }, - { - "end_outermost_loop": 651, - "end_region_line": 651, - "line": " def was_link_in_collsion(self,link_name):\n", - "lineno": 645, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 645, - "start_region_line": 645 - }, - { - "end_outermost_loop": 647, - "end_region_line": 651, - "line": " if self.urdf is None:\n", - "lineno": 646, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 646, - "start_region_line": 645 - }, - { - "end_outermost_loop": 647, - "end_region_line": 651, - "line": " return False\n", - "lineno": 647, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 647, - "start_region_line": 645 - }, - { - "end_outermost_loop": 648, - "end_region_line": 651, - "line": " try:\n", - "lineno": 648, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 648, - "start_region_line": 645 - }, - { - "end_outermost_loop": 649, - "end_region_line": 651, - "line": " return self.collision_links[link_name].was_in_collision\n", - "lineno": 649, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 649, - "start_region_line": 645 - }, - { - "end_outermost_loop": 650, - "end_region_line": 651, - "line": " except KeyError: #Not all links will be monitored\n", - "lineno": 650, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 650, - "start_region_line": 645 - }, - { - "end_outermost_loop": 651, - "end_region_line": 651, - "line": " return False\n", - "lineno": 651, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 651, - "start_region_line": 645 - }, - { - "end_outermost_loop": 652, - "end_region_line": 652, - "line": "\n", - "lineno": 652, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 652, - "start_region_line": 652 - }, - { - "end_outermost_loop": 653, - "end_region_line": 653, - "line": "\n", - "lineno": 653, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 653, - "start_region_line": 653 - }, - { - "end_outermost_loop": 676, - "end_region_line": 676, - "line": "class RobotCollision(Device):\n", - "lineno": 654, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 654, - "start_region_line": 654 - }, - { - "end_outermost_loop": 655, - "end_region_line": 676, - "line": " \"\"\"\n", - "lineno": 655, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 655, - "start_region_line": 654 - }, - { - "end_outermost_loop": 656, - "end_region_line": 676, - "line": " Deprecated. Keep shell class (for now) to avoid breaking legacy code.\n", - "lineno": 656, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 656, - "start_region_line": 654 - }, - { - "end_outermost_loop": 657, - "end_region_line": 676, - "line": " \"\"\"\n", - "lineno": 657, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 657, - "start_region_line": 654 - }, - { - "end_outermost_loop": 663, - "end_region_line": 663, - "line": " def __init__(self,robot):\n", - "lineno": 658, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 658, - "start_region_line": 658 - }, - { - "end_outermost_loop": 659, - "end_region_line": 663, - "line": " print('-----------')\n", - "lineno": 659, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 659, - "start_region_line": 658 - }, - { - "end_outermost_loop": 660, - "end_region_line": 663, - "line": " print('RobotCollision has been deprecated.')\n", - "lineno": 660, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 660, - "start_region_line": 658 - }, - { - "end_outermost_loop": 661, - "end_region_line": 663, - "line": " print('Use RobotCollisionMgmt instead')\n", - "lineno": 661, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 661, - "start_region_line": 658 - }, - { - "end_outermost_loop": 662, - "end_region_line": 663, - "line": " print('See KB post forum.hello-robot.com/xxx')\n", - "lineno": 662, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 662, - "start_region_line": 658 - }, - { - "end_outermost_loop": 663, - "end_region_line": 663, - "line": " print('-----------')\n", - "lineno": 663, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 663, - "start_region_line": 658 - }, - { - "end_outermost_loop": 664, - "end_region_line": 676, - "line": "\n", - "lineno": 664, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 664, - "start_region_line": 654 - }, - { - "end_outermost_loop": 666, - "end_region_line": 666, - "line": " def startup(self):\n", - "lineno": 665, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 665, - "start_region_line": 665 - }, - { - "end_outermost_loop": 666, - "end_region_line": 666, - "line": " pass\n", - "lineno": 666, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 666, - "start_region_line": 665 - }, - { - "end_outermost_loop": 667, - "end_region_line": 676, - "line": "\n", - "lineno": 667, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 667, - "start_region_line": 654 - }, - { - "end_outermost_loop": 669, - "end_region_line": 669, - "line": " def enable_model(self,name):\n", - "lineno": 668, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 668, - "start_region_line": 668 - }, - { - "end_outermost_loop": 669, - "end_region_line": 669, - "line": " pass\n", - "lineno": 669, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 669, - "start_region_line": 668 - }, - { - "end_outermost_loop": 670, - "end_region_line": 676, - "line": "\n", - "lineno": 670, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 670, - "start_region_line": 654 - }, - { - "end_outermost_loop": 672, - "end_region_line": 672, - "line": " def disable_model(self,name):\n", - "lineno": 671, - "memory_samples": [], - "n_avg_mb": 0.0, - "n_copy_mb_s": 0.0, - "n_core_utilization": 0.0, - "n_cpu_percent_c": 0.0, - "n_cpu_percent_python": 0.0, - "n_gpu_avg_memory_mb": 0.0, - "n_gpu_peak_memory_mb": 0.0, - "n_gpu_percent": 0, - "n_growth_mb": 0.0, - "n_malloc_mb": 0.0, - "n_mallocs": 0, - "n_peak_mb": 0.0, - "n_python_fraction": 0, - "n_sys_percent": 0.0, - "n_usage_fraction": 0.0, - "start_outermost_loop": 671, - "start_region_line": 671 - }, - { - "end_outermost_loop": 672, - "end_region_line": 672, - "line": " pass\n", - 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40.41176986694336 - ], - [ - 1238981666, - 40.50601291656494 - ], - [ - 1779370335, - 50.50844478607178 - ], - [ - 1779372799, - 50.60268783569336 - ] - ], - "stacks": [] -} From 52305cf32429956e878011c8099a11cab9541765 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 15 Apr 2024 15:48:57 -0700 Subject: [PATCH 42/43] Get braking joint config on collision --- body/stretch_body/dynamixel_hello_XL430.py | 18 ++-- body/stretch_body/end_of_arm.py | 10 +- body/stretch_body/end_of_arm_tools.py | 2 +- body/stretch_body/prismatic_joint.py | 10 +- body/stretch_body/robot_collision.py | 110 ++++++++++++--------- body/stretch_body/robot_params_SE3.py | 6 +- 6 files changed, 82 insertions(+), 74 deletions(-) diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index e06142cc..534b0e6d 100644 --- a/body/stretch_body/dynamixel_hello_XL430.py +++ b/body/stretch_body/dynamixel_hello_XL430.py @@ -468,16 +468,11 @@ def step_collision_avoidance(self,in_collision): if not self.was_runstopped: self.quick_stop() self.in_collision_stop[dir] = True - # self.last_collision_pair_min_dist = in_collision['las_cp_min_dist'] - # self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1: self.in_collision_stop[dir] = False - # if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001: - # self.in_collision_stop[dir] = False - # if abs(self.status['vel'])<0.001: - # self.in_collision_stop[dir] = False + def get_braking_distance(self,acc=None): """Compute distance to brake the joint from the current velocity""" @@ -605,11 +600,11 @@ def set_velocity(self,v_des,a_des=None): v = min(self.params['motion']['max']['vel'],abs(v_des)) if self.forced_collision_stop_override['pos'] and v_des>0: - self.logger.warning(f"Forced Collision stop") + self.logger.warning(f"set_velocity in Forced Collision stop. Motion disabled in direction {'pos'} for {self.name}. Not executing move_to") return if self.forced_collision_stop_override['neg'] and v_des<0: - self.logger.warning(f"Forced Collision stop") + self.logger.warning(f"set_velocity in Forced Collision stop. Motion disabled in direction {'neg'} for {self.name}. Not executing move_to") return if self.in_collision_stop['pos'] and v_des>0: @@ -734,6 +729,13 @@ def move_to(self,x_des, v_des=None, a_des=None): print('Dynamixel not calibrated:', self.name) return + if self.forced_collision_stop_override['pos'] and self.status['pos']x_des: + self.logger.warning(f"move_to in Forced Collision stop. Motion disabled in direction {'neg'} for {self.name}. Not executing move_to") + return if self.in_collision_stop['pos'] and self.status['pos'] -0.3 and wrist_y < 0.18: + if wrist_p > -0.2 and wrist_y < 0.18: # print("In Special Stop") self.get_joint('wrist_yaw').forced_collision_stop_override = {'pos': False, 'neg':True} self.get_joint('wrist_pitch').forced_collision_stop_override = {'pos': True, 'neg':False} diff --git a/body/stretch_body/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index da704e4b..d71e72b3 100644 --- a/body/stretch_body/prismatic_joint.py +++ b/body/stretch_body/prismatic_joint.py @@ -44,7 +44,6 @@ def __init__(self,name,usb=None): self.total_range = abs(self.params['range_m'][1] - self.params['range_m'][0]) self.in_collision_stop = {'pos': False, 'neg': False} self.ts_collision_stop = {'pos': 0, 'neg': 0} - self.collision_till_zero_vel_counter = 0 # ########### Device Methods ############# def startup(self, threaded=True): @@ -592,6 +591,7 @@ def step_collision_avoidance(self,in_collision): # if in_collision['pos'] and in_collision['neg']: # print('Invalid IN_COLLISION for joint %s'%self.name) # return + for dir in ['pos','neg']: if in_collision[dir] and not self.in_collision_stop[dir]: # Stop current motion @@ -600,18 +600,10 @@ def step_collision_avoidance(self,in_collision): self.in_collision_stop[dir] = True self.ts_collision_stop[dir]=time.time() self.collision_till_zero_vel_counter = 0 - # self.last_cfg_thresh = in_collision['last_joint_cfg_thresh'] #Reset if out of collision (at least 1s after collision) if self.in_collision_stop[dir] and not in_collision[dir] and time.time()-self.ts_collision_stop[dir]>1.0: self.in_collision_stop[dir] = False - # if abs(self.last_cfg_thresh - in_collision['last_joint_cfg_thresh']) > 0.001 and abs(self.status['vel'])<0.001: - # self.in_collision_stop[dir] = False - # if abs(self.status['vel'])<0.001: - # self.collision_till_zero_vel_counter = self.collision_till_zero_vel_counter + 1 - # if self.collision_till_zero_vel_counter>50: - # self.in_collision_stop[dir] = False - # self.collision_till_zero_vel_counter = 0 diff --git a/body/stretch_body/robot_collision.py b/body/stretch_body/robot_collision.py index 0f545a47..30627214 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -404,6 +404,7 @@ def __init__(self,robot,name='robot_collision_mgmt'): self.running = False self.robot_params = RobotParams().get_params()[1] self.collision_status = {} + self.brake_joints = {} def startup(self): self.collision_compute_proccess.start() @@ -418,11 +419,17 @@ def step(self): try: self.shared_is_running.value = self.running if self.running: - config = self.get_joint_configuration(braked=False) + config = self.get_joint_configuration(self.brake_joints) self.shared_joint_cfg.put(config) self.collision_status.update(self.shared_collision_status.get()) for j in self.collision_status.keys(): - self.get_joint_motor(j).step_collision_avoidance(self.collision_status[j]) + jm = self.get_joint_motor(j) + jm.step_collision_avoidance(self.collision_status[j]) + if True in self.collision_status[j].values(): + self.brake_joints[j] = True + else: + self.brake_joints[j] = False + except (BrokenPipeError,ConnectionResetError): pass @@ -437,36 +444,66 @@ def get_joint_motor(self,joint_name): return self.robot.head.get_joint('head_tilt') #Try the tool return self.robot.end_of_arm.get_joint(joint_name) - - def get_normalized_cfg_threshold(self): - arm_pos = self.robot.status['arm']['pos']/(0.5) - lift_pos = self.robot.status['lift']['pos']/(1.1) - head_pan_pos = (self.robot.status['head']['head_pan']['pos_ticks']- self.robot_params['head_pan']['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params['head_pan']['range_t'][0]) - head_tilt_pos = (self.robot.status['head']['head_tilt']['pos_ticks']- self.robot_params['head_tilt']['range_t'][0])/(self.robot_params['head_tilt']['range_t'][1] - self.robot_params['head_tilt']['range_t'][0]) - thresh = arm_pos + lift_pos + head_pan_pos + head_tilt_pos - i = 0 - for j in self.robot.end_of_arm.joints: - value = (self.robot.status['end_of_arm'][j]['pos_ticks']- self.robot_params[j]['range_t'][0])/(self.robot_params['head_pan']['range_t'][1] - self.robot_params[j]['range_t'][0]) - thresh = thresh + value - i = i + 1 - thresh = thresh/(4+i) - return float(thresh) - def get_joint_configuration(self,braked=False): + # def get_joint_configuration(self,braked=False): + # """ + # Construct a dictionary of robot's current pose + # """ + # s = self.robot.get_status() + # kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance'] + # if braked: + # da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 + # dl=kbd['lift']*self.robot.lift.get_braking_distance() + # dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() + # dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() + # else: + # da=0.0 + # dl=0.0 + # dhp=0.0 + # dht=0.0 + + # configuration = { + # 'joint_lift': dl+s['lift']['pos'], + # 'joint_arm_l0': da+s['arm']['pos']/4.0, + # 'joint_arm_l1': da+s['arm']['pos']/4.0, + # 'joint_arm_l2': da+s['arm']['pos']/4.0, + # 'joint_arm_l3': da+s['arm']['pos']/4.0, + # 'joint_head_pan': dhp+s['head']['head_pan']['pos'], + # 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] + # } + + # configuration.update(self.robot.end_of_arm.get_joint_configuration(braked)) + # return configuration + + def get_joint_configuration(self,brake_joints={}): """ Construct a dictionary of robot's current pose """ s = self.robot.get_status() kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance'] - if braked: - da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 - dl=kbd['lift']*self.robot.lift.get_braking_distance() - dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() - dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() - else: + da=0.0 + dl=0.0 + dhp=0.0 + dht=0.0 + try: + if brake_joints['arm']: + da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 + except KeyError: da=0.0 + try: + if brake_joints['lift']: + dl=kbd['lift']*self.robot.lift.get_braking_distance() + except KeyError: dl=0.0 + try: + if brake_joints['head_pan']: + dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() + except KeyError: dhp=0.0 + try: + if brake_joints['head_tilt']: + dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() + except KeyError: dht=0.0 configuration = { @@ -479,32 +516,7 @@ def get_joint_configuration(self,braked=False): 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] } - configuration.update(self.robot.end_of_arm.get_joint_configuration(True)) - return configuration - - def update_configuration_with_brakes(self,configuration): - """ - Update a dictionary of robot's current pose with braking distance applied - """ - s = self.robot.get_status() - kbd = self.robot_params['robot_collision_mgmt'][self.robot.params['model_name']]['k_brake_distance'] - da=kbd['arm']*self.robot.arm.get_braking_distance()/4.0 - dl=kbd['lift']*self.robot.lift.get_braking_distance() - dhp = kbd['head_pan'] * self.robot.head.get_joint('head_pan').get_braking_distance() - dht = kbd['head_tilt'] * self.robot.head.get_joint('head_tilt').get_braking_distance() - - - configuration = { - 'joint_lift': dl+s['lift']['pos'], - 'joint_arm_l0': da+s['arm']['pos']/4.0, - 'joint_arm_l1': da+s['arm']['pos']/4.0, - 'joint_arm_l2': da+s['arm']['pos']/4.0, - 'joint_arm_l3': da+s['arm']['pos']/4.0, - 'joint_head_pan': dhp+s['head']['head_pan']['pos'], - 'joint_head_tilt': dht+s['head']['head_tilt']['pos'] - } - - configuration.update(self.robot.end_of_arm.get_joint_configuration(True)) + configuration.update(self.robot.end_of_arm.get_joint_configuration(brake_joints)) return configuration def enable(self): diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index 78530627..97a8b94c 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -427,14 +427,15 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 0.5, 'wrist_yaw':0.5, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 0.5, 'wrist_yaw':1.5, 'wrist_roll': 0.25}, 'collision_pairs': { 'link_DW3_tablet_12in_TO_base_link': {'link_cube': 'base_link', 'link_pts': 'link_DW3_tablet_12in', 'detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l0': {'link_cube': 'link_arm_l0', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_arm_l1': {'link_cube': 'link_arm_l1', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges'}, 'link_DW3_tablet_12in_TO_link_head_tilt': {'link_cube': 'link_head_tilt', 'link_pts': 'link_DW3_tablet_12in','detect_as': 'edges', 'cube_scale': 1.2}, 'link_wrist_pitch_TO_base_link': {'link_pts': 'link_wrist_pitch', 'link_cube': 'base_link','detect_as': 'edges'}, - 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}}, + 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','detect_as': 'edges'}, + 'link_DW3_tablet_12in_TO_link_lift': {'link_pts': 'link_DW3_tablet_12in', 'link_cube': 'link_lift','detect_as': 'edges'},}, 'joints': {'arm': [{'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}, @@ -460,6 +461,7 @@ {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, # {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, + {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_lift'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l1'}, {'motion_dir': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, {'motion_dir': 'pos', 'collision_pair': 'link_DW3_tablet_12in_TO_base_link'}, From 3ae0a33b330930ca20e02b9f8b4f5585b0144177 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Tue, 30 Apr 2024 20:20:17 -0700 Subject: [PATCH 43/43] Disable collision mgmt while homing and stowing --- body/stretch_body/robot.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/body/stretch_body/robot.py b/body/stretch_body/robot.py index b9ef8fdf..ad0da735 100644 --- a/body/stretch_body/robot.py +++ b/body/stretch_body/robot.py @@ -566,6 +566,7 @@ def stow(self): Cause the robot to move to its stow position Blocking. """ + self.disable_collision_mgmt() self.head.move_to('head_pan', self.get_stow_pos('head_pan')) self.head.move_to('head_tilt',self.get_stow_pos('head_pan')) @@ -608,12 +609,14 @@ def stow(self): #Make sure wrist yaw is done before exiting while self.end_of_arm.motors['wrist_yaw'].motor.is_moving(): time.sleep(0.1) + self.enable_collision_mgmt() def home(self): """ Cause the robot to home its joints by moving to hardstops Blocking. """ + self.disable_collision_mgmt() if self.head is not None: print('--------- Homing Head ----') self.head.home() @@ -646,6 +649,8 @@ def _angle_pitch(angle): # Home the end-of-arm if self.end_of_arm is not None: self.end_of_arm.home() + + self.enable_collision_mgmt() #Let user know it is done self.pimu.trigger_beep() self.push_command()