diff --git a/python/pinocchio_inv_dyn/plot_utils.py b/python/pinocchio_inv_dyn/plot_utils.py
index 59c92e6..3b01a56 100644
--- a/python/pinocchio_inv_dyn/plot_utils.py
+++ b/python/pinocchio_inv_dyn/plot_utils.py
@@ -19,7 +19,7 @@
 DEFAULT_FIGURE_FACE_COLOR = 'white'    # figure facecolor; 0.75 is scalar gray
 DEFAULT_LEGEND_FONT_SIZE = DEFAULT_FONT_SIZE;
 DEFAULT_AXES_LABEL_SIZE = DEFAULT_FONT_SIZE;  # fontsize of the x any y labels
-DEFAULT_TEXT_USE_TEX = True;
+DEFAULT_TEXT_USE_TEX = False;
 LINE_ALPHA = 0.9;
 SAVE_FIGURES = False;
 FILE_EXTENSIONS = ['png']; #,'eps'];
@@ -247,4 +247,4 @@ def grayify_cmap(cmap):
 def saveFigure(title):
     if(SAVE_FIGURES):
         for ext in FILE_EXTENSIONS:
-            plt.gcf().savefig(FIGURE_PATH+title.replace(' ', '_')+'.'+ext, format=ext, dpi=FIGURES_DPI, bbox_inches='tight');
\ No newline at end of file
+            plt.gcf().savefig(FIGURE_PATH+title.replace(' ', '_')+'.'+ext, format=ext, dpi=FIGURES_DPI, bbox_inches='tight');
diff --git a/python/pinocchio_inv_dyn/simulator.py b/python/pinocchio_inv_dyn/simulator.py
index f84a1b5..f63bdb9 100644
--- a/python/pinocchio_inv_dyn/simulator.py
+++ b/python/pinocchio_inv_dyn/simulator.py
@@ -3,7 +3,7 @@
 from numpy.random import random
 from pinocchio_inv_dyn.robot_wrapper import RobotWrapper
 import pinocchio as se3
-from staggered_projections import StaggeredProjections
+#~ from staggered_projections import StaggeredProjections
 from constraint_violations import ForceConstraintViolation, PositionConstraintViolation, VelocityConstraintViolation, TorqueConstraintViolation, ConstraintViolationType
 from first_order_low_pass_filter import FirstOrderLowPassFilter
 import time
@@ -180,7 +180,7 @@ def __init__(self, name, q, v, fMin, mu, dt, mesh_dir, urdfFileName, freeFlyer=T
         
         self.reset(0, q, v, dt);
         
-        self.LCP = StaggeredProjections(self.nv, self.mu[0], accuracy=EPS, verb=0);
+        #~ self.LCP = StaggeredProjections(self.nv, self.mu[0], accuracy=EPS, verb=0);
         
         if(self.DISPLAY_COM):
             self.viewer.addSphere('com', self.COM_SPHERE_RADIUS, zeros(3), zeros(3), self.COM_SPHERE_COLOR, 'OFF');
@@ -770,4 +770,4 @@ def updateContactForcesInViewerFromConstraints(self, contact_constraints, f):
         contact_forces = [ f[ii:ii+3] for ii in contact_size_cum];
         return self.updateContactForcesInViewer(contact_names, contact_points, contact_forces);
 
-            
\ No newline at end of file
+            
diff --git a/python/pinocchio_inv_dyn/sot_utils.py b/python/pinocchio_inv_dyn/sot_utils.py
index 9935ce7..01830b6 100644
--- a/python/pinocchio_inv_dyn/sot_utils.py
+++ b/python/pinocchio_inv_dyn/sot_utils.py
@@ -11,12 +11,13 @@
 from pinocchio.rpy import rotate
 from pinocchio import Quaternion
 from pinocchio.utils import matrixToRpy, rpyToMatrix
-from polytope_conversion_utils import *
-from qpoases import PyQProblemB as QProblemB # QP with simple bounds only
-from qpoases import PySQProblem as SQProblem
-from qpoases import PyOptions as Options
-from qpoases import PyPrintLevel as PrintLevel
-from qpoases import PyReturnValue
+from numpy import array 
+#~ from polytope_conversion_utils import *
+#~ from qpoases import PyQProblemB as QProblemB # QP with simple bounds only
+#~ from qpoases import PySQProblem as SQProblem
+#~ from qpoases import PyOptions as Options
+#~ from qpoases import PyPrintLevel as PrintLevel
+#~ from qpoases import PyReturnValue
 
 EPS = 1e-6
 
@@ -186,6 +187,7 @@ def compute6dContactInequalities(contact_points, contact_normals, mu):
         G_centr4[3:,cg*i:cg*i+cg] = np.dot(crossMatrix(p[i,:]), G4[i,:,:]);
         
     ''' convert generators to inequalities '''
+    from polytope_conversion_utils import *
     H = cone_span_to_face(G_centr4);
     return H;
     
@@ -218,6 +220,7 @@ def computeRectangularContactInequalities(lxp, lxn, lyp, lyn, mu):
         G_centr4[:3,cg*i:cg*i+cg] = G4;
         G_centr4[3:,cg*i:cg*i+cg] = np.dot(crossMatrix(p[i,:]), G4);
     ''' convert generators to inequalities '''
+    from polytope_conversion_utils import *
     H = cone_span_to_face(G_centr4);
     return H;
     
@@ -269,6 +272,11 @@ def solveHierarchicalLeastSquares(A_list, b_list, damping=1e-4, zero_thr=1e-5):
     return x;
 
 def qpOasesSolverMsg(imode):
+    from qpoases import PyQProblemB as QProblemB # QP with simple bounds only
+    from qpoases import PySQProblem as SQProblem
+    from qpoases import PyOptions as Options
+    from qpoases import PyPrintLevel as PrintLevel
+    from qpoases import PyReturnValue
     if(imode==PyReturnValue.HOTSTART_STOPPED_INFEASIBILITY):
         return "HOTSTART_STOPPED_INFEASIBILITY";
     elif(imode==PyReturnValue.MAX_NWSR_REACHED):
@@ -446,4 +454,4 @@ def hrp2_jointId_2_name(jid):
     if(np.linalg.norm(q-qSot) > 1e-6):
         print "Error in conversion sot-pino-sot"
         print q
-        print qSot
\ No newline at end of file
+        print qSot