UserWarning: Converted P to scipy.sparse.csc.csc_matrix

[DiomandLEE]

UserWarning: Converted P to scipy.sparse.csc.csc_matrix
For best performance, build P as a scipy.sparse.csc_matrix rather than as a numpy.ndarray
warnings.warn(
~/Envs/pink-qp/lib/python3.9/site-packages/qpsolvers/conversions/ensure_sparse_matrices.py:24: UserWarning: Converted G to scipy.sparse.csc.csc_matrix
For best performance, build G as a scipy.sparse.csc_matrix rather than as a numpy.ndarray

Could you please tell me how to fix it？thank you @stephane-caron

[stephane-caron]

The matrices returned by Pinocchio and turned by Pink into QP matrices are all dense. When using a solver with a sparse matrix API, the backend qpsolver library warns us that a little bit of extra time will be spent converting the dense matrix to a sparse format. Once users are aware of this, they can disable the warning by:

warnings.filterwarnings(
    "ignore",
    category=qpsolvers.warnings.SparseConversionWarning,
)

I've pushed an example to illustrate this in arm_ur3_sparse_solver.py.

On a design note, we don't silently suppress this warning in Pink as users may find it informative when selecting a QP solver.