(self, vae_trt, cfg_denoiser, diffusion, val_data, clip_model,
future_len, history_len, cfg)
| 422 | self._init_done = True |
| 423 | |
| 424 | def warmup(self, vae_trt, cfg_denoiser, diffusion, val_data, clip_model, |
| 425 | future_len, history_len, cfg): |
| 426 | t0 = time.time() |
| 427 | self.get_logger().info("Warming up...") |
| 428 | for i in range(3): |
| 429 | warmup(vae_trt, cfg_denoiser, diffusion, val_data, clip_model, |
| 430 | future_len, history_len, cfg) |
| 431 | self._reset_motion_buffer() |
| 432 | self._update_text_embedding() |
| 433 | self._gen_motion() |
| 434 | t1 = time.time() |
| 435 | self.get_logger().info(f"Warming up done in {(t1 - t0) * 1000:.2f} ms") |
| 436 | |
| 437 | def _toggle_callback(self, msg: Time): |
| 438 | msg_time = msg.sec + msg.nanosec / 1e9 |
no test coverage detected