run-algo-in-parallel.py

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import pinocchio as pin
import numpy as np

model = pin.buildSampleModelHumanoid()
model.lowerPositionLimit[:7] = -np.ones(7)
model.upperPositionLimit[:7] = +np.ones(7)

pool = pin.ModelPool(model)

num_threads = pin.omp_get_max_threads()
batch_size = 128
q = np.empty((model.nq,batch_size))
for k in range(batch_size):
    q[:,k] = pin.randomConfiguration(model)

v = np.zeros((model.nv,batch_size))
a = np.zeros((model.nv,batch_size))
tau = np.zeros((model.nv,batch_size))

print("num_threads: {}".format(num_threads))
print("batch_size: {}".format(batch_size))

# Call RNEA
res_rnea = np.empty((model.nv,batch_size))
pin.rnea(num_threads,pool,q,v,a,res_rnea) # Without allocation
res_rnea2 = pin.rnea(num_threads,pool,q,v,a) # With allocation

# Call ABA
res_aba = np.empty((model.nv,batch_size))
pin.aba(num_threads,pool,q,v,tau,res_aba) # Without allocation
res_aba2 = pin.aba(num_threads,pool,q,v,tau) # With allocation