Ensure model reduction warning is printed only once #469
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Benchmark
| Benchmark suite | Current: 5c479ed | Previous: c28e89a | Ratio |
|---|---|---|---|
tests/test_benchmark.py::test_forward_dynamics_aba[1] |
413.3596493286602 iter/sec (stddev: 0.000284442731863108) |
385.94492720843766 iter/sec (stddev: 0.000009463978323506126) |
0.93 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
29.129412336529462 iter/sec (stddev: 0.00009759969248799307) |
29.216966653272625 iter/sec (stddev: 0.00011455086573428671) |
1.00 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
467.80206405114376 iter/sec (stddev: 0.000446367333795091) |
361.396251061539 iter/sec (stddev: 0.00000910574964681653) |
0.77 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
16.088922015855374 iter/sec (stddev: 0.0005718104724915047) |
16.218942194940492 iter/sec (stddev: 0.00025096534945186314) |
1.01 |
tests/test_benchmark.py::test_forward_kinematics[1] |
603.5926299808614 iter/sec (stddev: 0.00047484944047732097) |
452.4863643105723 iter/sec (stddev: 0.000008022285629396292) |
0.75 |
tests/test_benchmark.py::test_forward_kinematics[128] |
31.71019080041912 iter/sec (stddev: 0.00016878423832489777) |
31.765642438814933 iter/sec (stddev: 0.0002088457881717258) |
1.00 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
178.8200481975422 iter/sec (stddev: 0.00016718501900668572) |
181.58130216807277 iter/sec (stddev: 0.00005072371260792714) |
1.02 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
190.44938012539 iter/sec (stddev: 0.0005024819625813938) |
175.24079377087364 iter/sec (stddev: 0.000018760096947039575) |
0.92 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
515.4063514560539 iter/sec (stddev: 0.00004369525032503067) |
525.7508803201982 iter/sec (stddev: 0.000006377672924636457) |
1.02 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
537.8448052414424 iter/sec (stddev: 0.000027862591012869102) |
534.2483568468638 iter/sec (stddev: 0.000006942445781767468) |
0.99 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
417.04712012256437 iter/sec (stddev: 0.000018347131685972594) |
410.0473494948492 iter/sec (stddev: 0.000012243950755069747) |
0.98 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
301.45175555280247 iter/sec (stddev: 0.00001927313209922407) |
302.58988317111164 iter/sec (stddev: 0.000015109621352982298) |
1.00 |
tests/test_benchmark.py::test_soft_contact_model[1] |
348.5459170561888 iter/sec (stddev: 0.00007382515640909239) |
349.9366267743607 iter/sec (stddev: 0.00000947480013200776) |
1.00 |
tests/test_benchmark.py::test_soft_contact_model[128] |
29.741916628527974 iter/sec (stddev: 0.0006070949628958349) |
29.951416599383442 iter/sec (stddev: 0.0001405258247109449) |
1.01 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
40.37474527817284 iter/sec (stddev: 0.00004476010661518304) |
40.276241063183 iter/sec (stddev: 0.000024302278784552764) |
1.00 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.7259317572972223 iter/sec (stddev: 0.0004318986173799526) |
0.7258859819172665 iter/sec (stddev: 0.0003607214923404956) |
1.00 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
75.22012097191437 iter/sec (stddev: 0.00003595100758433085) |
74.75017951811331 iter/sec (stddev: 0.00003167479964364776) |
0.99 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
6.378891809986 iter/sec (stddev: 0.0002684729245602989) |
6.400062476314604 iter/sec (stddev: 0.00024891629896200675) |
1.00 |
tests/test_benchmark.py::test_simulation_step[1] |
69.60305767558184 iter/sec (stddev: 0.00003262156241931089) |
69.29459728383536 iter/sec (stddev: 0.00002754549281911007) |
1.00 |
tests/test_benchmark.py::test_simulation_step[128] |
5.3959603125106295 iter/sec (stddev: 0.00036863226475924234) |
5.39599749835251 iter/sec (stddev: 0.000279412049524645) |
1.00 |
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It happens in some scripts that we need to re-build the model and re-reduce it. This PR ensures that the model reduction warning is printed only once. Moreover, it introduces a
JaxSimWarningclass for a prettier formatting.📚 Documentation preview 📚: https://jaxsim--469.org.readthedocs.build//469/