Creating a Robot from a JSON configuration file is very slow

[RemiFabre]

Hi,

My setup has 18 AX-12 on the same bus. As shown on the log file, the "Instantiating controller on" step took more than 16 seconds to finish:

2020-03-08 00:04:27,467 - INFO - Loading config...
2020-03-08 00:04:27,467 - INFO - Instantiating motor 'motor_1' id=1 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_2' id=2 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_3' id=3 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_4' id=4 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_5' id=5 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_6' id=6 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_7' id=7 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_8' id=8 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_9' id=9 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_10' id=10 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_11' id=11 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_12' id=12 direct=True offset=0.0
2020-03-08 00:04:27,468 - INFO - Instantiating motor 'motor_13' id=13 direct=True offset=0.0
2020-03-08 00:04:27,469 - INFO - Instantiating motor 'motor_14' id=14 direct=True offset=0.0
2020-03-08 00:04:27,469 - INFO - Instantiating motor 'motor_15' id=15 direct=True offset=0.0
2020-03-08 00:04:27,469 - INFO - Instantiating motor 'motor_16' id=16 direct=True offset=0.0
2020-03-08 00:04:27,469 - INFO - Instantiating motor 'motor_17' id=17 direct=True offset=0.0
2020-03-08 00:04:27,469 - INFO - Instantiating motor 'motor_18' id=18 direct=True offset=0.0
2020-03-08 00:04:27,759 - INFO - Found port /dev/ttyUSB0 for ids [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18]
2020-03-08 00:04:28,912 - INFO - Instantiating controller on /dev/ttyUSB0 with motors ['motor_1', 'motor_2', 'motor_3', 'motor_4', 'motor_5', 'motor_6', 'motor_7', 'motor_8', 'motor_9', 'motor_10', 'motor_11', 'motor_12', 'motor_13', 'motor_14', 'motor_15', 'motor_16', 'motor_17', 'motor_18']
2020-03-08 00:04:45,036 - INFO - Creating alias 'leg1' for motors ['motor_8', 'motor_10', 'motor_12']
2020-03-08 00:04:45,036 - INFO - Creating alias 'leg2' for motors ['motor_14', 'motor_16', 'motor_18']
2020-03-08 00:04:45,036 - INFO - Creating alias 'leg3' for motors ['motor_13', 'motor_15', 'motor_17']
2020-03-08 00:04:45,036 - INFO - Creating alias 'leg4' for motors ['motor_7', 'motor_9', 'motor_11']
2020-03-08 00:04:45,037 - INFO - Creating alias 'leg5' for motors ['motor_1', 'motor_3', 'motor_5']
2020-03-08 00:04:45,037 - INFO - Creating alias 'leg6' for motors ['motor_2', 'motor_4', 'motor_6']
2020-03-08 00:04:45,037 - INFO - Loading complete!

Here is my configuration file. Any idea what is causing this slow down?
{ "controllers": { "dxl_controller_0": { "sync_read": false, "attached_motors": [ "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6", "motor_7", "motor_8", "motor_9", "motor_10", "motor_11", "motor_12", "motor_13", "motor_14", "motor_15", "motor_16", "motor_17", "motor_18" ], "port": "auto" } }, "motorgroups": { "leg1": [ "motor_8", "motor_10", "motor_12" ], "leg2": [ "motor_14", "motor_16", "motor_18" ], "leg3": [ "motor_13", "motor_15", "motor_17" ], "leg4": [ "motor_7", "motor_9", "motor_11" ], "leg5": [ "motor_1", "motor_3", "motor_5" ], "leg6": [ "motor_2", "motor_4", "motor_6" ] }, "motors": { "motor_9": { "orientation": "direct", "type": "AX-12", "id": 9, "angle_limit": [ -89.0, 101.0 ], "offset": 0.0 }, "motor_11": { "orientation": "direct", "type": "AX-12", "id": 11, "angle_limit": [ -80, 150 ], "offset": 0.0 }, "motor_7": { "orientation": "direct", "type": "AX-12", "id": 7, "angle_limit": [ -101, 101 ], "offset": 0.0 }, "motor_1": { "orientation": "direct", "type": "AX-12", "id": 1, "angle_limit": [ -100, 0 ], "offset": 0.0 }, "motor_5": { "orientation": "direct", "type": "AX-12", "id": 5, "angle_limit": [ -80, 150 ], "offset": 0.0 }, "motor_3": { "orientation": "direct", "type": "AX-12", "id": 3, "angle_limit": [ -89.0, 101.0 ], "offset": 0.0 }, "motor_8": { "orientation": "direct", "type": "AX-12", "id": 8, "angle_limit": [ -101.0, 101.0 ], "offset": 0.0 }, "motor_12": { "orientation": "direct", "type": "AX-12", "id": 12, "angle_limit": [ -80.0, 150.0 ], "offset": 0.0 }, "motor_10": { "orientation": "direct", "type": "AX-12", "id": 10, "angle_limit": [ -89.0, 101.0 ], "offset": 0.0 }, "motor_2": { "orientation": "direct", "type": "AX-12", "id": 2, "angle_limit": [ 0, 100 ], "offset": 0.0 }, "motor_4": { "orientation": "direct", "type": "AX-12", "id": 4, "angle_limit": [ -89.0, 101.0 ], "offset": 0.0 }, "motor_15": { "orientation": "direct", "type": "AX-12", "id": 15, "angle_limit": [ -89.0, 101.0 ], "offset": 0.0 }, "motor_17": { "orientation": "direct", "type": "AX-12", "id": 17, "angle_limit": [ -80, 150 ], "offset": 0.0 }, "motor_14": { "orientation": "direct", "type": "AX-12", "id": 14, "angle_limit": [ -100, 0 ], "offset": 0.0 }, "motor_16": { "orientation": "direct", "type": "AX-12", "id": 16, "angle_limit": [ -89.0, 101.0 ], "offset": 0.0 }, "motor_18": { "orientation": "direct", "type": "AX-12", "id": 18, "angle_limit": [ -80, 150 ], "offset": 0.0 }, "motor_13": { "orientation": "direct", "type": "AX-12", "id": 13, "angle_limit": [ 0, 100 ], "offset": 0.0 }, "motor_6": { "orientation": "direct", "type": "AX-12", "id": 6, "angle_limit": [ -80, 150 ], "offset": 0.0 } } }

[ymollard]

I'm a bit late here, any news about this issue?
I would advise to activate the DEBUG output so that we have more information about bus-level communications, they could be the bottleneck.

import logging, sys
logging.basicConfig(stream=sys.stderr, level="DEBUG")

[RemiFabre]

Nothing new, I just switched to using dxl_io and wrote my own Robot class.