diff --git a/body/stretch_body/dynamixel_hello_XL430.py b/body/stretch_body/dynamixel_hello_XL430.py index 7e7f98f7..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 @@ -449,22 +451,33 @@ 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 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_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]>1.0: - # 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']}") - 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 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""" @@ -591,6 +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.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..7f726d1b 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): @@ -156,7 +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': @@ -228,4 +232,20 @@ 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) + + 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'] + # 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") + 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/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/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/prismatic_joint.py b/body/stretch_body/prismatic_joint.py index f28a36a4..da704e4b 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 @@ -599,16 +599,20 @@ 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.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: - # 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 + 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.py b/body/stretch_body/robot.py index 979dfcbe..b9ef8fdf 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=100) 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..0f545a47 100644 --- a/body/stretch_body/robot_collision.py +++ b/body/stretch_body/robot_collision.py @@ -7,7 +7,11 @@ import time import threading import chime -import math +import random +from stretch_body.robot_params import RobotParams +import multiprocessing +import signal +import ctypes try: # works on ubunut 22.04 @@ -83,6 +87,85 @@ 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 + """ + print(pts1.shape,pts2.shape) + 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): + # choose a random triangle indices + random_index = random.randint(0, len(mesh_triangles) - 1) + points = mesh_triangles[random_index] + mesh_triangles.pop(random_index) + # 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 to be used as a constant. + """ + 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(25) # 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 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: print('Invalid PPD provided to check_ppd_edges_in_cube') @@ -117,6 +200,7 @@ def closest_pair_3d(points1, points2): closest_pair = (p1, p2) return closest_pair, closest_distance + # ####################################################################### class CollisionLink: @@ -188,6 +272,16 @@ def find_edge_indices_PPD(self): lens.sort() print('LENS',lens) return q + + def get_triangles(self): + triangles_idx=self.mesh.cells_dict['triangle'] + 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]] + triangles.append([p1,p2,p3]) + return triangles def check_AABB(self,pts): """ @@ -215,13 +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) @@ -238,19 +333,23 @@ 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={} - self.in_collision={'pos':False,'neg':False, 'las_cp_min_dist':None} + self.in_collision={'pos':False,'neg':False} 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) 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: @@ -268,9 +367,154 @@ 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, exit_event): + signal.signal(signal.SIGINT, signal_handler) + signal.signal(signal.SIGTERM, signal_handler) + 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.value: + 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) + except (BrokenPipeError,ConnectionResetError): + pass + +def signal_handler(signal_received, frame): + exit(0) class RobotCollisionMgmt(Device): - def __init__(self,robot): + def __init__(self,robot,name='robot_collision_mgmt'): + self.name = name + self.robot = robot + self.shared_joint_cfg = multiprocessing.Queue() + self.shared_collision_status = multiprocessing.Queue() + 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, + args=(self.name, + self.shared_is_running, + self.shared_joint_cfg, + self.shared_collision_status, + 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() + + def stop(self): + self.exit_event.set() + self.shared_is_running.set(False) + self.collision_compute_proccess.terminate() + self.collision_compute_proccess.join() + + def step(self): + try: + self.shared_is_running.value = self.running + if self.running: + 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]) + except (BrokenPipeError,ConnectionResetError): + pass + + 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 float(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(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): + self.running=True + + def disable(self): + self.running=False + +class RobotCollisionCompute(Device): + def __init__(self,name='robot_collision_mgmt'): """ RobotCollisionMgmt monitors for collisions between links. It utilizes the Collision mesh for collision estimation. @@ -283,30 +527,26 @@ def __init__(self,robot): 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') - self.robot = robot + Device.__init__(self, name) self.collision_joints = {} self.collision_links = {} self.collision_pairs = {} - #chime.theme('big-sur') #'material')# - self.running=False + chime.theme('big-sur') #'material') 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: 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['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) @@ -325,7 +565,7 @@ 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'} @@ -339,12 +579,14 @@ 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()): + 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 # 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: @@ -353,43 +595,32 @@ 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 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: + if self.urdf is None: 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) + _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 - 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()) @@ -400,20 +631,27 @@ 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, '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}") + # 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 > 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 # Test for collisions across all collision pairs for pair_name in self.collision_pairs: cp=self.collision_pairs[pair_name] 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) - # 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) + 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,cp.cube_scale)) else: cp.in_collision =False #cp.pretty_print() @@ -424,10 +662,10 @@ def step(self,cfg=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') + print(f'New collision pair event: {pair_name} [{time.time()}]' ) self.alert() + # 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] @@ -435,12 +673,8 @@ 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) + # 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() def alert(self): @@ -463,37 +697,6 @@ 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): """ Deprecated. Keep shell class (for now) to avoid breaking legacy code. diff --git a/body/stretch_body/robot_params_SE3.py b/body/stretch_body/robot_params_SE3.py index b141d67c..78530627 100644 --- a/body/stretch_body/robot_params_SE3.py +++ b/body/stretch_body/robot_params_SE3.py @@ -277,18 +277,24 @@ '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': 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': '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_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_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'}, {'motion_dir': 'neg', 'collision_pair': 'link_wrist_pitch_TO_base_link'}], @@ -298,21 +304,43 @@ {'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'}, {'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_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_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_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'}, + {'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'}, {'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_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'}, + {'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': { 'wrist_pitch': { @@ -399,20 +427,14 @@ 'wrist_yaw': 1.57 }, 'collision_mgmt': { - 'k_brake_distance': {'wrist_pitch': 1, 'wrist_yaw':1, 'wrist_roll': 0.25}, + 'k_brake_distance': {'wrist_pitch': 0.5, 'wrist_yaw':0.5, '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'}, - 'link_wrist_yaw_bottom_TO_base_link': {'link_pts': 'link_wrist_yaw_bottom', 'link_cube': 'base_link','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', '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'}}, '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'}, @@ -424,21 +446,26 @@ {'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_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': 'neg', 'collision_pair': 'link_DW3_tablet_12in_TO_link_arm_l0'}, - {'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': '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'}], - - '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'}] @@ -899,7 +926,7 @@ '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'}}, 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 + + + + + + + + + + + + + + + + + + + + + + + + + +
+

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+ AI optimization options + + + +
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+ + +
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+ Proposed optimizations
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+ + 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.
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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, + "n_cpu_percent_python": 0.0, + "n_gpu_avg_memory_mb": 0.0, + "n_gpu_peak_memory_mb": 0.0, + "n_gpu_percent": 0, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_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, + 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"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, + 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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, + "n_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, + "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": [], + 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+ { + "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, + "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": 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, + "n_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, + "start_outermost_loop": 98, + "start_region_line": 98 + }, + { + "end_outermost_loop": 99, + "end_region_line": 99, + "line": "\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": 99 + }, + { + "end_outermost_loop": 100, + "end_region_line": 100, + "line": "BAUD_MAP = {\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": 100 + }, + { + "end_outermost_loop": 101, + "end_region_line": 101, + "line": " 9600: 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": 101 + }, + { + "end_outermost_loop": 102, + "end_region_line": 102, + "line": " 57600: 1,\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": 102 + }, + { + "end_outermost_loop": 103, + "end_region_line": 103, + "line": " 115200: 2,\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": 103 + }, + { + "end_outermost_loop": 104, + "end_region_line": 104, + "line": " 1000000: 3,\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": 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": 106, + "end_region_line": 106, + "line": " 3000000: 5,\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": 107, + "end_region_line": 107, + "line": " 4000000: 6,\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": 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, + 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0.0, + "n_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": 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"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, + 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"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, + "n_growth_mb": 0.0, + "n_malloc_mb": 0.0, + "n_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, + 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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": 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, + 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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": 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, + 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"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, + 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