Merge pull request #5 from JuliaRobotics/hf/test-PrecompileTools.jl

Reduce TTFX with PrecompileTools.jl

Author: ferrolho

.github/workflows/Documentation.yml

@@ -16,7 +16,7 @@ jobs:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
         with:
-          version: '1.6'
+          version: '1.8'
       - name: Install dependencies
         run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
       - name: Build and deploy

Project.toml

@@ -14,6 +14,7 @@ MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
 NPZ = "15e1cf62-19b3-5cfa-8e77-841668bca605"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
@@ -30,6 +31,7 @@ MeshCat = "0.14, 0.15, 0.16"
 MeshCatMechanisms = "0.8, 0.9"
 NPZ = "0.4"
 Plots = "1"
+PrecompileTools = "1"
 Requires = "1"
 RigidBodyDynamics = "2"
 SparseDiffTools = "2"

notebooks/Example.ipynb

@@ -238,15 +238,15 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Julia 1.9.1",
+   "display_name": "Julia 1.9.2",
    "language": "julia",
    "name": "julia-1.9"
   },
   "language_info": {
    "file_extension": ".jl",
    "mimetype": "application/julia",
    "name": "julia",
-   "version": "1.9.1"
+   "version": "1.9.2"
   }
  },
  "nbformat": 4,

src/TORA.jl

@@ -61,6 +61,9 @@ include("./constraints/end_effector.jl")
 include("./transcription/ipopt.jl")
 include("./plots.jl")
 
+# Code to "exercise" the package - see https://julialang.github.io/PrecompileTools.jl/stable/
+include("./precompile.jl")
+
 export solve_with_knitro
 
 end # module

src/precompile.jl

@@ -0,0 +1,12 @@
+import PrecompileTools
+
+PrecompileTools.@compile_workload begin
+    vis = Visualizer()
+    robot = create_robot_franka("panda_arm", vis)
+    problem = Problem(robot, 201, 1/100)
+    fix_joint_velocities!(problem, robot, 1, zeros(robot.n_v))
+    cpu_time, x, solver_log = solve_with_ipopt(problem, robot)
+    play_trajectory(vis, problem, robot, x)
+    plot_results(problem, robot, x)
+    Plots.closeall()
+end