Speed up Gazebo SDF installation in CI workflows #403
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Benchmark
| Benchmark suite | Current: 9fc838f | Previous: b8dc880 | Ratio |
|---|---|---|---|
tests/test_benchmark.py::test_forward_dynamics_aba[1] |
30.45431723617565 iter/sec (stddev: 0.00014903937319438995) |
30.43094994884611 iter/sec (stddev: 0.0002354202407734067) |
1.00 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
14.487057735233533 iter/sec (stddev: 0.0002740891145887525) |
14.575836005798429 iter/sec (stddev: 0.0006585891972580001) |
1.01 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
24.64024359997299 iter/sec (stddev: 0.0002761856178812413) |
25.397133741737715 iter/sec (stddev: 0.0009491392636666373) |
1.03 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
10.520226991748462 iter/sec (stddev: 0.000612239742685594) |
10.6816914285496 iter/sec (stddev: 0.000517398924164968) |
1.02 |
tests/test_benchmark.py::test_forward_kinematics[1] |
71.24360128062833 iter/sec (stddev: 0.00020961016795191656) |
72.03167875049594 iter/sec (stddev: 0.00009500412749925384) |
1.01 |
tests/test_benchmark.py::test_forward_kinematics[128] |
23.270686262928642 iter/sec (stddev: 0.00032762942303246183) |
23.471106849285086 iter/sec (stddev: 0.00020376718898495997) |
1.01 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
38.29954315857371 iter/sec (stddev: 0.0002557530839168373) |
38.675730942178994 iter/sec (stddev: 0.00010568383460247941) |
1.01 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
37.81409056929418 iter/sec (stddev: 0.0002781760908299701) |
38.2550466367494 iter/sec (stddev: 0.00015319005592225342) |
1.01 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
46.91836546435265 iter/sec (stddev: 0.00013836526784276483) |
48.19269568026804 iter/sec (stddev: 0.00008858560640105389) |
1.03 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
48.13922595576763 iter/sec (stddev: 0.0001275815140420415) |
49.04617743615522 iter/sec (stddev: 0.00007703519636250519) |
1.02 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
28.848191808301532 iter/sec (stddev: 0.00024182056897584733) |
29.346998764148726 iter/sec (stddev: 0.00015369239727139257) |
1.02 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
29.059321114645346 iter/sec (stddev: 0.00017056492756835668) |
29.579412781307177 iter/sec (stddev: 0.0001491117343376076) |
1.02 |
tests/test_benchmark.py::test_soft_contact_model[1] |
26.922947884003573 iter/sec (stddev: 0.00025774343556890245) |
27.180213298960158 iter/sec (stddev: 0.00011167425098739633) |
1.01 |
tests/test_benchmark.py::test_soft_contact_model[128] |
13.382194446144847 iter/sec (stddev: 0.0010709504037412331) |
13.438532944177156 iter/sec (stddev: 0.0007602145408073091) |
1.00 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
5.663474186425651 iter/sec (stddev: 0.0012416078847196643) |
5.826319682602947 iter/sec (stddev: 0.0005824582164795953) |
1.03 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.8318150436333397 iter/sec (stddev: 0.0018900045498410943) |
0.8342140152755144 iter/sec (stddev: 0.0033817016292866774) |
1.00 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
5.267519237042927 iter/sec (stddev: 0.000597300390032508) |
5.166702718309451 iter/sec (stddev: 0.00044048150996140167) |
0.98 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
2.6482161653710388 iter/sec (stddev: 0.0005415088282890713) |
3.1864271451250157 iter/sec (stddev: 0.001222744051181486) |
1.20 |
tests/test_benchmark.py::test_simulation_step[1] |
4.125313463009654 iter/sec (stddev: 0.0007392002198967209) |
4.16523976071087 iter/sec (stddev: 0.0005173472764501817) |
1.01 |
tests/test_benchmark.py::test_simulation_step[128] |
2.1352912145974816 iter/sec (stddev: 0.004754775693441531) |
2.4639733087509925 iter/sec (stddev: 0.0009650346967322344) |
1.15 |
This comment was automatically generated by workflow using github-action-benchmark.
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I am missing something, the tests are not passing in this PR? To be honest, I guess you also need |
The tests are passing indeed, but the merging is blocked since two approving reviews are needed. Or at least, this is what I see |
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Sorry, I wrote "test are not passing", but what I wanted to write is "tests are not running at all"? |
Oh I see, sorry. That is due to the fact that the change is in a folder that is filtered out of the CI, e.g. some tests do not run if the change does not pertain to certain folders. See https://github.com/ami-iit/jaxsim/blob/main/.github/workflows/ci_cd.yml#L103-L118 |
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Not urgent (as the this PR in general), but can we either get rid of it (I do not think the gain in time in docs-only PR is worth the risk of accidentally merging PR in which tests are not running in non-clear way) or if really we need that filter make it more robust? |
I definitely agree with getting rid of it |
Done in #404 |
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This pull request includes changes to the CI/CD workflow configuration file to update the installation process for Gazebo and its dependencies.
Changes to CI/CD workflow:
.github/workflows/ci_cd.yml: Updated the commands to add the Gazebo repository and its key, and modified the package installation process to includelibsdformat14-devinstead ofgz-ionicandsdf.📚 Documentation preview 📚: https://jaxsim--403.org.readthedocs.build//403/