Add precompilation

DojoEnvironments/Project.toml

@@ -6,8 +6,10 @@ version = "0.6.0"
 [deps]
 Dojo = "ac60b53e-8d92-4c83-b960-e78698fa1916"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [compat]
 Dojo = "0.3.0, 0.4.0, 0.5.0, 0.6.0, 0.7.0"
+PrecompileTools = "1.0, 1.2"
 julia = "1.6, 1.9"

DojoEnvironments/src/DojoEnvironments.jl

@@ -6,12 +6,17 @@ using Random
 using Dojo
 import Dojo: string_to_symbol, add_limits, RotX, RotY, RotZ, rotation_vector, SVector
 
+using PrecompileTools
+
 include("mechanisms.jl")
 include("environments.jl")
 include("utilities.jl")
 include("mechanisms/include.jl")
 include("environments/include.jl")
 
+# Precompilation
+include("precompile.jl")
+
 # Mechanism
 export
     get_mechanism,

DojoEnvironments/src/precompile.jl

@@ -0,0 +1,61 @@
+@setup_workload begin
+    mechanisms = [
+        :ant,
+        :atlas,
+        :block,
+        :block2d,
+        :cartpole,
+        :dzhanibekov,
+        :exoskeleton,
+        :fourbar,
+        :halfcheetah,
+        :hopper,
+        :humanoid,
+        :npendulum,
+        :nslider,
+        :panda,
+        :pendulum,
+        :quadrotor,
+        :quadruped,
+        :raiberthopper,
+        :slider,
+        :snake,
+        :sphere,
+        :tippetop,
+        :twister,
+        :uuv,
+        :walker,
+        :youbot,
+    ]
+
+    environments = [
+        :ant_ars,
+        :cartpole_dqn,
+        :pendulum,
+        :quadruped_waypoint,
+        :quadruped_sampling,
+        :quadrotor_waypoint,
+        :uuv_waypoint,
+        :youbot_waypoint,
+    ]
+
+    @compile_workload begin
+        # Simulate all mechanisms
+        for name in mechanisms 
+            mech = get_mechanism(name) 
+            initialize!(mech, name)
+            simulate!(mech, mech.timestep * 2)
+        end
+
+        # Simulate all environments
+        for name in environments 
+            env = get_environment(name; horizon=2)
+            x = get_state(env)
+            u = DojoEnvironments.input_map(env, nothing)
+            set_input!(env, nothing)
+            step!(env, x)
+            step!(env, x, u)
+            simulate!(env)
+        end
+    end
+end

Project.toml

@@ -17,6 +17,7 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 Meshing = "e6723b4c-ebff-59f1-b4b7-d97aa5274f73"
 Polyhedra = "67491407-f73d-577b-9b50-8179a7c68029"
+PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 Quaternions = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
@@ -36,6 +37,7 @@ LightXML = "<0.9.0, 0.9.0"
 MeshCat = "<0.16.0, 0.16.1"
 Meshing = "<0.6.0, 0.6.0"
 Polyhedra = "<0.7.6, 0.7.6"
+PrecompileTools = "1.0, 1.2"
 Quaternions = "0.5.2, 0.7.0, 0.7.6"
 StaticArrays = "1.2, 1.9"
 julia = "1.6, 1.10"

examples/Project.toml

@@ -17,8 +17,8 @@ Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 [compat]
 ClosedIntervals = "<0.3.1, 0.3.1"
 ControlSystemsBase = "1.0, 1.10"
-Dojo = "<0.7.3, 0.7.3"
-DojoEnvironments = "<0.5.3, 0.5.3"
+Dojo = "<0.7.4, 0.7.4"
+DojoEnvironments = "<0.6.0, 0.6.0"
 Flux = "<0.13.17, 0.13.17"
 ForwardDiff = "<0.10.36, 0.10.36"
 JLD2 = "<0.4.46, 0.4.46"

src/Dojo.jl

@@ -30,6 +30,7 @@ using GraphBasedSystems
 using CoordinateTransformations
 
 using DocStringExtensions
+using PrecompileTools
 
 # Utilities
 include(joinpath("utilities", "methods.jl"))
@@ -147,6 +148,9 @@ include(joinpath("gradients", "state.jl"))
 include(joinpath("gradients", "data.jl"))
 include(joinpath("gradients", "utilities.jl"))
 
+# Precompilation
+include("precompile.jl")
+
 
 # Bodies
 export

src/precompile.jl

@@ -0,0 +1,40 @@
+@setup_workload begin
+    @compile_workload begin 
+        # One full simulation
+        origin = Origin()
+        body = Cylinder(0.1, 1, 1)
+        joint = JointConstraint(Revolute(origin, body, [1;0;0]; child_vertex=[0;0;1/2]))
+        mechanism = Mechanism(origin, [body], [joint])
+        controller!(mechanism, k) = set_input!(joint, [0])
+        set_minimal_coordinates!(mechanism, joint, [pi/4])
+        set_minimal_velocities!(mechanism, joint, [0.2])
+        storage = simulate!(mechanism, mechanism.timestep * 2, controller!, record=true)
+
+        # Common shapes
+        mesh = Mesh("", 1, rand(3,3))
+        box = Box(1,1,1,1.0)
+        capsule = Capsule(1,1,1.0)
+        cylinder = Cylinder(1, 1, 1.0)
+        sphere = Sphere(1,1.0)
+        pyramid = Pyramid(1,1,1.0)
+
+        # Common joints
+        joint_axis = [1;0;0]
+        JointConstraint(Floating(origin, mesh))
+        JointConstraint(Fixed(origin, box))
+        JointConstraint(Prismatic(origin, capsule, joint_axis))
+        JointConstraint(Planar(origin, cylinder, joint_axis))
+        JointConstraint(FixedOrientation(origin, sphere))
+        JointConstraint(Revolute(origin, pyramid, joint_axis))
+        JointConstraint(Cylindrical(origin, mesh, joint_axis))
+        JointConstraint(PlanarAxis(origin, box, joint_axis))
+        JointConstraint(FreeRevolute(origin, capsule, joint_axis))
+        JointConstraint(Orbital(origin, cylinder, joint_axis))
+        JointConstraint(PrismaticOrbital(origin, sphere, joint_axis))
+        JointConstraint(PlanarOrbital(origin, pyramid, joint_axis))
+        JointConstraint(FreeOrbital(origin, mesh, joint_axis))
+        JointConstraint(Spherical(origin, box))
+        JointConstraint(CylindricalFree(origin, capsule, joint_axis))
+        JointConstraint(PlanarFree(origin, cylinder, joint_axis))
+    end
+end