Certainly we want to avoid processing unnecessary table definitions
with every request.

It seems to me that the simplest solution is something like this:

if request.controller=='foo':
  db.define_table('foo', Field...) # main table
  db.define_table('foo_one_to_many', Field(foo_id, db.foo...)...)
  ...

What is the advantage of the no models architecture over this?

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