def run_and_save_ocp(model_path, phase_time, number_shooting_points):
ocp = prepare_ocp(model_path=model_path,
phase_time=phase_time,
number_shooting_points=number_shooting_points,
use_symmetry=True,
use_actuators=False)
for i in range(len(model_path)):
ocp.add_plot("CoM",
lambda x, u, p: plot_CoM(x, model_path[i]),
phase_number=i,
plot_type=PlotType.PLOT)
ocp.add_plot("CoM_dot",
lambda x, u, p: plot_CoM_dot(x, model_path[i]),
phase_number=i,
plot_type=PlotType.PLOT)
sol = ocp.solve(solver_options={
"hessian_approximation": "exact",
"max_iter": 10000
},
show_online_optim=True)
OptimalControlProgram.save(ocp, sol, "../Results/jumper5phases_exact_sol")
tic = time.time()
sol, sol_obj = ocp.solve(
show_online_optim=True,
return_iterations=False,
return_objectives=True,
solver_options={
"tol": 1e-3,
"max_iter": 500000,
"ipopt.bound_push": 1e-10,
"ipopt.bound_frac": 1e-10,
"ipopt.hessian_approximation": "limited-memory",
"output_file": "output.bot",
"ipopt.linear_solver": "mumps", # "mumps", # "ma57", "ma86"
# "file_print_level": 5,
},
)
toc = time.time() - tic
print(f"Time to solve : {toc}sec")
analyse = Objective.Printer(ocp, sol_obj)
t = time.localtime(time.time())
date = f"{t.tm_year}_{t.tm_mon}_{t.tm_mday}"
OptimalControlProgram.save(ocp, sol, f"results/{date}_upDown.bo")
OptimalControlProgram.save_get_data(ocp, sol, f"results/{date}_upDown.bob")
OptimalControlProgram.save_get_data(ocp, sol, f"results/{date}_upDown_interpolate.bob", interpolate_nb_frames=100)
# --- Show results --- #
result = ShowResult(ocp, sol)
result.graphs()
# --- Solve the program --- #
tic = time.time()
sol, sol_iterations = ocp.solve(
show_online_optim=True,
return_iterations=True,
solver_options={
"tol": 1e-4,
"max_iter": 3000,
"ipopt.hessian_approximation": "limited-memory"
},
)
toc = time.time() - tic
print(f"Time to solve : {toc}sec")
t = time.localtime(time.time())
date = f"{t.tm_year}_{t.tm_mon}_{t.tm_mday}"
OptimalControlProgram.save(ocp, sol, f"results/{date}_xiaModel.bo")
OptimalControlProgram.save_get_data(ocp,
sol,
f"results/{date}_xiaModel.bob",
sol_iterations=sol_iterations)
OptimalControlProgram.save_get_data(
ocp,
sol,
f"results/{date}_xiaModel_interpolate.bob",
interpolate_nb_frames=100)
# --- Show results --- #
result = ShowResult(ocp, sol)
result.graphs()
