From 82e3f87e3ef7bbe17552dacd41a3155847d17dc3 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Wed, 27 Jul 2022 15:48:19 +0200
Subject: [PATCH] fix matplotlib imports
---
.../WB_MPC/CrocoddylOCP.py | 1 -
.../main_solo12_control.py | 13 ++++++-------
.../tools/LoggerControl.py | 6 ++----
3 files changed, 8 insertions(+), 12 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
index 7d813027..431912fc 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
@@ -1,6 +1,5 @@
from tracemalloc import start
-from matplotlib.pyplot import switch_backend
from .ProblemData import ProblemData
from .Target import Target
from .OcpResult import OcpResult
diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index aff682d0..48750714 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/python/quadruped_reactive_walking/main_solo12_control.py
@@ -28,7 +28,6 @@ else:
from .tools.qualisysClient import QualisysClient
-
def get_input():
"""
Thread to get the input
@@ -112,7 +111,7 @@ def damp_control(device, nb_motors):
device.joints.set_velocity_gains(0.1 * np.ones(nb_motors))
device.joints.set_desired_positions(np.zeros(nb_motors))
device.joints.set_desired_velocities(np.zeros(nb_motors))
- #device.joints.set_torques(np.zeros(nb_motors))
+ # device.joints.set_torques(np.zeros(nb_motors))
# Send command to the robot
device.send_command_and_wait_end_of_cycle(params.dt_wbc)
@@ -199,7 +198,6 @@ def control_loop():
t_end_whole = time.time()
-
t += params.dt_wbc
dT_whole = T_whole
@@ -232,8 +230,8 @@ def control_loop():
log_path = Path("/tmp") / "logs" / date_str
log_path.mkdir(parents=True)
loggerControl.save(str(log_path))
- with open(str(log_path / 'readme.txt') , 'w') as f:
- f.write(msg)
+ with open(str(log_path / 'readme.txt'), 'w') as f:
+ f.write(msg)
if params.PLOTTING:
loggerControl.plot(save=True, fileName=str(log_path))
@@ -247,6 +245,7 @@ def control_loop():
if __name__ == "__main__":
- #os.nice(-20)
+ # os.nice(-20)
+
log = control_loop()
- #quit()
+ # quit()
diff --git a/python/quadruped_reactive_walking/tools/LoggerControl.py b/python/quadruped_reactive_walking/tools/LoggerControl.py
index 4270e6ee..9f4833db 100644
--- a/python/quadruped_reactive_walking/tools/LoggerControl.py
+++ b/python/quadruped_reactive_walking/tools/LoggerControl.py
@@ -2,8 +2,6 @@ from datetime import datetime
from time import time
import numpy as np
from .kinematics_utils import get_translation, get_translation_array
-import matplotlib
-import matplotlib.pyplot as plt
class LoggerControl:
@@ -249,8 +247,8 @@ class LoggerControl:
plt.savefig(fileName + "/target")
self.plot_controller_times()
- self.plot_OCP_times()
- self.plot_OCP_update_times()
+ # self.plot_OCP_times()
+ # self.plot_OCP_update_times()
plt.show()
--
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