Fix examples in python

Author: edantec

examples/go2_fulldynamics.py

@@ -83,8 +83,7 @@
     timestep=dt,
 )
 
-mpc = MPC()
-mpc.initialize(mpc_conf, dynproblem)
+mpc = MPC(mpc_conf, dynproblem)
 
 """ Define contact sequence throughout horizon"""
 contact_phase_quadru = {
@@ -223,17 +222,17 @@
     solve_time.append(end - start)
 
     a0 = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[0]
         .dynamics_data.continuous_data.xdot[nv:]
     )
     a1 = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[1]
         .dynamics_data.continuous_data.xdot[nv:]
     )
 
-    FL_f, FR_f, RL_f, RR_f, contact_states = extract_forces(mpc.getTrajOptProblem(), mpc.getSolver().workspace, 0)
+    FL_f, FR_f, RL_f, RR_f, contact_states = extract_forces(mpc.getTrajOptProblem(), mpc.solver.workspace, 0)
     total_forces = np.concatenate((FL_f, FR_f, RL_f, RR_f))
     force_FL.append(FL_f)
     force_FR.append(FR_f)

examples/go2_kinodynamics.py

@@ -93,8 +93,7 @@
     timestep=0.01,
 )
 
-mpc = MPC()
-mpc.initialize(mpc_conf, dynproblem)
+mpc = MPC(mpc_conf, dynproblem)
 
 """ Define contact sequence throughout horizon"""
 contact_phase_quadru = {
@@ -227,12 +226,12 @@
     L_measured.append(mpc.getDataHandler().getData().hg.angular.copy())
 
     a0 = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[0]
         .dynamics_data.continuous_data.xdot[nv:]
     )
     a1 = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[1]
         .dynamics_data.continuous_data.xdot[nv:]
     )

examples/talos_centroidal.py

@@ -87,8 +87,7 @@
     timestep=problem_conf["timestep"],
 )
 
-mpc = MPC()
-mpc.initialize(mpc_conf, problem)
+mpc = MPC(mpc_conf, problem)
 
 """ Define contact sequence throughout horizon"""
 contact_phase_double = {
@@ -210,7 +209,7 @@
     foot_ref = [mpc.getReferencePose(0, name) for name in model_handler.getFeetNames()]
     foot_ref_next = [mpc.getReferencePose(1, name) for name in model_handler.getFeetNames()]
     dH = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[0]
         .dynamics_data.continuous_data.xdot[3:9]
     )
@@ -229,7 +228,7 @@
 
         forces = (
             mpc.us[0][: nk * force_size]
-            - 1 * mpc.getSolver().results.controlFeedbacks()[0] @ state_diff
+            - 1 * mpc.solver.results.controlFeedbacks()[0] @ state_diff
         )
 
 

examples/talos_fulldynamics.py

@@ -112,8 +112,7 @@
     timestep=problem_conf["timestep"],
 )
 
-mpc = MPC()
-mpc.initialize(mpc_conf, dynproblem)
+mpc = MPC(mpc_conf, dynproblem)
 
 """ Define contact sequence throughout horizon"""
 contact_phase_double = {

examples/talos_kinodynamics.py

@@ -123,8 +123,7 @@
     timestep=problem_conf["timestep"],
 )
 
-mpc = MPC()
-mpc.initialize(mpc_conf, problem)
+mpc = MPC(mpc_conf, problem)
 
 """ Define contact sequence throughout horizon"""
 contact_phase_double = {
@@ -212,12 +211,12 @@
     end = time.time()
     print("MPC iterate = " + str(end - start))
     a0 = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[0]
         .dynamics_data.continuous_data.xdot[nv:]
     )
     a1 = (
-        mpc.getSolver()
+        mpc.solver
         .workspace.problem_data.stage_data[1]
         .dynamics_data.continuous_data.xdot[nv:]
     )