facebookresearch / polymetis
Duplication

Places in code with 6 or more lines that are exactly the same.

Intro
  • For duplication, we look at places in code where there are 6 or more lines of code that are exactly the same.
  • Before duplication is calculated, the code is cleaned to remove empty lines, comments, and frequently duplicated constructs such as imports.
  • You should aim at having as little as possible (<5%) of duplicated code as high-level of duplication can lead to maintenance difficulties, poor factoring, and logical contradictions.
Learn more...
Duplication Overall
  • 74% duplication:
    • 10,521 cleaned lines of cleaned code (without empty lines, comments, and frequently duplicated constructs such as imports)
    • 7,815 duplicated lines
  • 1,169 duplicates
system74% (7,815 lines)
Duplication per Extension
urdf100% (5,362 lines)
xacro100% (1,766 lines)
yaml88% (309 lines)
mtl100% (168 lines)
py7% (133 lines)
cpp4% (34 lines)
launch100% (28 lines)
yml36% (15 lines)
Duplication per Component (primary)
polymetis/python/polymetis93% (3,855 lines)
polymetis/data/kuka_iiwa100% (3,496 lines)
polymetis/data/franka_panda100% (166 lines)
polymetis/conf/robot_client100% (112 lines)
polymetis/python/torchcontrol13% (87 lines)
polymetis/conf100% (25 lines)
polymetis/src/clients7% (22 lines)
polymetis17% (15 lines)
polymetis/conda/conda_recipe26% (15 lines)
polymetis/src4% (12 lines)
polymetis/conf/robot_model100% (10 lines)
polymetis/protos0% (0 lines)
polymetis/python/polymetis_pb2_grpc0% (0 lines)
polymetis/python/hydra_plugins0% (0 lines)
polymetis/python/polymetis_pb20% (0 lines)
polymetis/python/scripts0% (0 lines)
polymetis/python/polysim0% (0 lines)
polymetis/include/polymetis0% (0 lines)
polymetis/include0% (0 lines)
polymetis/src/torchscript_operators0% (0 lines)
ROOT0% (0 lines)

Duplication Between Components (50+ lines)

G polymetis/data/kuka_iiwa polymetis/data/kuka_iiwa polymetis/python/polymetis polymetis/python/polymetis polymetis/data/kuka_iiwa--polymetis/python/polymetis 6992 polymetis/data/franka_panda polymetis/data/franka_panda polymetis/data/franka_panda--polymetis/python/polymetis 332 polymetis/conf/robot_client polymetis/conf/robot_client polymetis/conf/robot_client--polymetis/python/polymetis 224 polymetis/conf polymetis/conf polymetis/conf--polymetis/python/polymetis 50

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Show more details on duplication between components...
Longest Duplicates
The list of 20 longest duplicates.
See data for all 1,169 duplicates...
Size#FoldersFilesLinesCode
503 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_robotiq-2f.urdf
iiwa7_robotiq-2f.urdf
1:711 (100%)
1:711 (100%)
view
339 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_table.urdf
iiwa7_table.urdf
1:470 (100%)
1:470 (100%)
view
326 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_ft_peg.urdf
iiwa7_ft_peg.urdf
1:450 (100%)
1:450 (100%)
view
314 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_ft.urdf
iiwa7_ft.urdf
1:433 (100%)
1:433 (100%)
view
300 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_transparent.urdf
iiwa7_transparent.urdf
1:413 (100%)
1:413 (100%)
view
300 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_robotiq-2f.urdf
1:413 (100%)
1:413 (59%)
view
300 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7.urdf
1:413 (100%)
1:413 (100%)
view
300 x 2 polymetis/python/polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_robotiq-2f.urdf
1:413 (100%)
1:413 (59%)
view
300 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_robotiq-2f.urdf
1:413 (100%)
1:413 (59%)
view
300 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_robotiq-2f.urdf
iiwa7.urdf
1:413 (59%)
1:413 (100%)
view
280 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_transparent.urdf
34:413 (93%)
34:413 (93%)
view
280 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_transparent.urdf
34:413 (93%)
34:413 (93%)
view
280 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_transparent.urdf
iiwa7_robotiq-2f.urdf
34:413 (93%)
34:413 (55%)
view
280 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_transparent.urdf
iiwa7.urdf
34:413 (93%)
34:413 (93%)
view
280 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_robotiq-2f.urdf
iiwa7_transparent.urdf
34:413 (55%)
34:413 (93%)
view
280 x 2 polymetis/python/polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_robotiq-2f.urdf
iiwa7_transparent.urdf
34:413 (55%)
34:413 (93%)
view
280 x 2 polymetis/python/polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_transparent.urdf
34:413 (93%)
34:413 (93%)
view
280 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_robotiq-2f.urdf
iiwa7_transparent.urdf
34:413 (55%)
34:413 (93%)
view
257 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7_table.urdf
iiwa7_transparent.urdf
123:470 (75%)
66:413 (85%)
view
257 x 2 polymetis/data/kuka_iiwa/urdf
polymetis/python/polymetis/data/kuka_iiwa/urdf
urdf
iiwa7.urdf
iiwa7_table.urdf
66:413 (85%)
123:470 (75%)
view
Duplicated Units
The list of top 2 duplicated units.
See data for all 2 unit duplicates...
Size#FoldersFilesLinesCode
6 x 2 polymetis/python/torchcontrol/policies
polymetis/python/torchcontrol/policies
ee_pd.py
joint_pd.py
0:0 
0:0 
view
13 x 2 polymetis/python/torchcontrol/modules
polymetis/python/torchcontrol/modules
planning.py
planning.py
0:0 
0:0 
view