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remove useless import #4

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remove useless import #4

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4 changes: 2 additions & 2 deletions python/pinocchio_inv_dyn/plot_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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'];
Expand Down Expand Up @@ -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');
plt.gcf().savefig(FIGURE_PATH+title.replace(' ', '_')+'.'+ext, format=ext, dpi=FIGURES_DPI, bbox_inches='tight');
6 changes: 3 additions & 3 deletions python/pinocchio_inv_dyn/simulator.py
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Expand Up @@ -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
Expand Down Expand Up @@ -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');
Expand Down Expand Up @@ -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);



22 changes: 15 additions & 7 deletions python/pinocchio_inv_dyn/sot_utils.py
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Expand Up @@ -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

Expand Down Expand Up @@ -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;

Expand Down Expand Up @@ -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;

Expand Down Expand Up @@ -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):
Expand Down Expand Up @@ -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
print qSot