cannot import action modellimpact in example about crocoddyl HOT 15 CLOSED

Please use the devel branch if you cannot wait for the next release.

And run this example: https://github.com/loco-3d/crocoddyl/blob/devel/examples/bipedal_walk.py

from crocoddyl.

I will close this issue since it is solved in devel branch.

Feel free to reopen it if it is needed

from crocoddyl.

I checked out devel branch, but it doesn't work!
The following is the log.

~/landing/src/crocoddyl$ python
Python 2.7.12 (default, Oct 8 2019, 14:14:10)
[GCC 5.4.0 20160609] on linux2
Type "help", "copyright", "credits" or "license" for more information.

from crocoddyl import ActionModelImpact
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name ActionModelImpact
import crocoddyl

from crocoddyl.

It is named ActionModelImpulseFwdDynamics
Could you please try with the following:
from crocoddyl import ActionModelImpulseFwdDynamics as ActionModelImpact

from crocoddyl.

Thanks.

I also met some similar problems:

ActivationModelInequality
ActuationModelFreeFloating
CallbackDDPLogger
CallbackDDPVerbose
CostModelCoM
DifferentialActionModelFloatingInContact
StatePinocchio
CostModelImpactCoM

import ActivationModelInequality
Traceback (most recent call last):
File "", line 1, in
ImportError: No module named ActivationModelInequality
from crocoddyl import ActivationModelInequality
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name ActivationModelInequality
from crocoddyl import ActivationModelWeightedQuad
from crocoddyl import ActuationModelFreeFloating
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name ActuationModelFreeFloating
from crocoddyl import CallbackDDPLogger
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name CallbackDDPLogger
from crocoddyl import CallbackDDPVerbose
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name CallbackDDPVerbose
from crocoddyl import ContactModel6D
from crocoddyl import ContactModelMultiple
from crocoddyl import CostModelCoM
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name CostModelCoM
from crocoddyl import CostModelControl
from crocoddyl import CostModelFramePlacement
from crocoddyl import CostModelState
from crocoddyl import CostModelSum
from crocoddyl import DifferentialActionModelFloatingInContact
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name DifferentialActionModelFloatingInContact
from crocoddyl import ImpulseModel6D
from crocoddyl import ImpulseModelMultiple
from crocoddyl import IntegratedActionModelEuler
from crocoddyl import ShootingProblem
from crocoddyl import SolverDDP
from crocoddyl import StatePinocchio
Traceback (most recent call last):
File "", line 1, in
ImportError: cannot import name StatePinocchio
from crocoddyl.diagnostic import displayTrajectory
Traceback (most recent call last):
File "", line 1, in
ImportError: No module named diagnostic
from crocoddyl.impact import CostModelImpactCoM
Traceback (most recent call last):
File "", line 1, in
ImportError: No module named impact

from crocoddyl.

It works!
from crocoddyl import ActionModelImpulseFwdDynamics

from crocoddyl.

Can you help check above other issue?
Thanks.

from crocoddyl.

The examples are updated with the new API, you need to use them.

Note that the previous API was experimental and purely coded in Python. We have improved it from 1.0.0, now it is based on c++ classes.

from crocoddyl.

do you have an updated example code for twist while jumping?

I think I found an old version in the repo.

from crocoddyl.

do you have an updated example code for twist while jumping?

Unfortunately, I don't have it yet.

However, I just merged now an example with a quadrupedal jump, its name is boxfddp_vs_boxddp.

I think I found an old version in the repo.

This is a backup file, which is not yet migrated to the new API.
I will migrate later, but this is not top priority now.
You can help me to boost this task, of course. But I suggest you to learn first the new API with the current working examples.

from crocoddyl.

Thanks, I am interested in the biped example. Can I do that instead?

I learned new API with current working examples. It worked fine actually.

I am trying to rewrite the code for talos from the /examples/npydata/jump.py using new API.

For the new API, until now I found two old API ActivationModelInequality and CostModelImpactCoM cannot be replaced with current C++ API. I cannot find the corresponding ones to replace them.

Anything I can do to restore that API from current C++?

I am not good at C++ and I use Python a lot.

from crocoddyl.

Is there a way to define properties by querying name like previous method?

impact.costs['track16'].cost.activation = crocoddyl.ActivationModelWeightedQuad(np.matrix(wx**2).T)

from crocoddyl.

For the new API, until now I found two old API ActivationModelInequality and CostModelImpactCoM cannot be replaced with current C++ API. I cannot find the corresponding ones to replace them.

The ActivationModelInequality has been renamed by ActivationModelQuadraticBarrier. Note that the API has been improved, you need to check the documentation.

The CostModelImpactCoM is not available at the moment. I will work on it next week, however you can start without it.

Anything I can do to restore that API from current C++?

No, thank you. We have already started the development of CostModelImpactCoM. Furthermore, it requires deeper understanding of c++ implementation

from crocoddyl.

Did you implement CostModelImpactCoM, I still cannot find it in the library.

from crocoddyl.

Yes, it is available now, its name is CostModelImpulseCoM

from crocoddyl.