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[py mp] Add example of scipy vs disabled
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py_binary( | ||
name = "repro", | ||
srcs = ["repro.py"], | ||
deps = [ | ||
"//bindings/pydrake", | ||
], | ||
) |
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""" | ||
$ bazel build //tmp:repro | ||
$ bazel-bin/tmp/repro | ||
Time / iter: 0.2897 ms | ||
$ bazel-bin/tmp/repro --disable_scipy | ||
Time / iter: 0.0267 ms | ||
""" | ||
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import argparse | ||
import time | ||
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def main(): | ||
parser = argparse.ArgumentParser() | ||
parser.add_argument("--disable_scipy", action="store_true") | ||
args = parser.parse_args() | ||
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if args.disable_scipy: | ||
import sys | ||
sys.modules["scipy"] = None | ||
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import numpy as np | ||
from numpy import array | ||
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from pydrake.solvers import MathematicalProgram | ||
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prog = MathematicalProgram() | ||
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vd_vars = np.concatenate([ | ||
prog.NewContinuousVariables(6, "spatial.scale"), | ||
prog.NewContinuousVariables(7, "joint.scale"), | ||
]) | ||
# ^ this is np.array(dtype=object) of Variable | ||
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Avd = array([[ 2.65718997e+01, -5.60733765e-14, 1.79933696e-16, | ||
2.93309075e-04, -7.32090388e-11, -3.97322068e-02, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00], | ||
[-7.14810902e-01, -4.20804285e-12, 5.53401959e-19, | ||
-1.61281948e-01, -7.49863660e-13, 5.93973871e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00], | ||
[-2.07657434e+01, 1.63474531e-13, -7.11641900e-16, | ||
-1.18829747e-03, -5.34017976e-11, 1.36295039e-01, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00], | ||
[ 4.78482153e-01, -4.82733413e-11, 5.48477048e-19, | ||
-1.81288172e-01, -8.50964416e-13, -1.46958506e+01, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00], | ||
[-1.40378837e+02, -1.92382976e-15, 5.10901382e-16, | ||
5.75425272e-04, 3.53620989e-11, -3.91765323e-02, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00], | ||
[-1.22612281e+00, 5.72600659e-10, 2.38563650e-19, | ||
-6.79529439e-04, 9.61744602e-14, 1.98614632e+01, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00], | ||
[ 1.17683501e+01, 7.21314493e-14, 9.65329560e-15, | ||
-5.49135713e-04, -1.09862856e-10, 5.68293103e-02, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, | ||
0.00000000e+00]]) | ||
bvd = array([0., 0., 0., 0., 0., 0., 0.]) | ||
b_v_min = array([-51.65625, -51.65625, -51.65625, -51.65625, -61.9875 , -61.9875 , | ||
-61.9875 ]) | ||
b_v_max = array([-51.65625, -51.65625, -51.65625, -51.65625, -61.9875 , -61.9875 , | ||
-61.9875 ]) | ||
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count = 100 | ||
t_start = time.time() | ||
for i in range(count): | ||
prog.AddLinearConstraint( | ||
Avd, | ||
b_v_min - bvd, | ||
-b_v_max - bvd, | ||
vd_vars, | ||
) | ||
dt_mean = (time.time() - t_start) / count | ||
print(f"Time / iter: {dt_mean * 1000:.4f} ms") | ||
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if __name__ == "__main__": | ||
main() |