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MeMory-of-MOtion · Jun 17, 2024 · aa58b39 · aa58b39
1 parent bbfae44
commit aa58b39
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Showing 8 changed files with 23 additions and 24 deletions.
diff --git a/examples/walk_without_think/walk_ocp.py b/examples/walk_without_think/walk_ocp.py
@@ -81,9 +81,11 @@
 q0 = robot.x0[: robot.model.nq]
 print(
     "Start from q0=",
-    "half_sitting"
-    if norm(q0 - robot.model.referenceConfigurations["half_sitting"]) < 1e-9
-    else q0,
+    (
+        "half_sitting"
+        if norm(q0 - robot.model.referenceConfigurations["half_sitting"]) < 1e-9
+        else q0
+    ),
 )
 
 # #####################################################################################

diff --git a/include/sobec/crocomplements/activation-quad-ref.hpp b/include/sobec/crocomplements/activation-quad-ref.hpp
@@ -32,8 +32,8 @@ class ActivationModelQuadRefTpl : public ActivationModelAbstractTpl<_Scalar> {
   typedef typename MathBase::MatrixXs MatrixXs;
 
   explicit ActivationModelQuadRefTpl(const VectorXs& reference)
-      : Base(static_cast<std::size_t>(reference.size())), ref(reference){};
-  virtual ~ActivationModelQuadRefTpl(){};
+      : Base(static_cast<std::size_t>(reference.size())), ref(reference) {};
+  virtual ~ActivationModelQuadRefTpl() {};
 
   virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data,
                     const Eigen::Ref<const VectorXs>& r) {

diff --git a/include/sobec/crocomplements/activation-weighted-log.hpp b/include/sobec/crocomplements/activation-weighted-log.hpp
@@ -41,7 +41,7 @@ class ActivationModelWeightedLogTpl
                    << "alpha should be a positive value");
     }
   };
-  virtual ~ActivationModelWeightedLogTpl(){};
+  virtual ~ActivationModelWeightedLogTpl() {};
 
   virtual void calc(const boost::shared_ptr<ActivationDataAbstract> &data,
                     const Eigen::Ref<const VectorXs> &r) {

diff --git a/include/sobec/crocomplements/lowpassfilter/action.hxx b/include/sobec/crocomplements/lowpassfilter/action.hxx
@@ -541,7 +541,7 @@ void IntegratedActionModelLPFTpl<Scalar>::calcDiff(
       }
 #endif
     }  // tauLim !=0
-  }    // tau integration
+  }  // tau integration
 
   //   // TAU PLUS INTEGRATION
   //   else {

diff --git a/python/sobec/pinbullet.py b/python/sobec/pinbullet.py
@@ -56,9 +56,7 @@ def setPinocchioFinalizationTricks(self):
         self.rmodel.upperPositionLimit[:7] = 1
         self.rmodel.lowerPositionLimit[:7] = -1
 
-        self.rmodel.armature = (
-            self.rmodel.rotorInertia * self.rmodel.rotorGearRatio**2
-        )
+        self.rmodel.armature = self.rmodel.rotorInertia * self.rmodel.rotorGearRatio**2
         self.rmodel.q0 = self.rmodel.referenceConfigurations["half_sitting"]
         self.rdata = self.rmodel.createData()
 

diff --git a/python/sobec/walk_without_think/ocp.py b/python/sobec/walk_without_think/ocp.py
@@ -434,16 +434,18 @@ def __init__(self, robotWrapper, ddp):
             np.concatenate(
                 [
                     (
-                        d.differential.multibody.contacts.contacts[
-                            "%s_contact" % robotWrapper.model.frames[cid].name
-                        ].jMf.inverse()
-                        * d.differential.multibody.contacts.contacts[
-                            "%s_contact" % robotWrapper.model.frames[cid].name
-                        ].f
-                    ).vector
-                    if "%s_contact" % robotWrapper.model.frames[cid].name
-                    in d.differential.multibody.contacts.contacts
-                    else np.zeros(6)
+                        (
+                            d.differential.multibody.contacts.contacts[
+                                "%s_contact" % robotWrapper.model.frames[cid].name
+                            ].jMf.inverse()
+                            * d.differential.multibody.contacts.contacts[
+                                "%s_contact" % robotWrapper.model.frames[cid].name
+                            ].f
+                        ).vector
+                        if "%s_contact" % robotWrapper.model.frames[cid].name
+                        in d.differential.multibody.contacts.contacts
+                        else np.zeros(6)
+                    )
                     for cid in robotWrapper.contactIds
                 ]
             )

diff --git a/python/sobec/walk_without_think/weight_share.py b/python/sobec/walk_without_think/weight_share.py
@@ -5,9 +5,7 @@ def switch_tanh(x, **kwargs):
     return (
         0
         if x <= 0
-        else 1
-        if x >= 1
-        else (np.tanh(-1.0 / x + 1.0 / (1.0 - x)) + 1.0) / 2.0
+        else 1 if x >= 1 else (np.tanh(-1.0 / x + 1.0 / (1.0 - x)) + 1.0) / 2.0
     )
 
 

diff --git a/tests/python/test_mpccpp.py b/tests/python/test_mpccpp.py
@@ -3,7 +3,6 @@
 
 """
 
-
 import numpy as np
 
 # from numpy.linalg import norm
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,7 +3,6 @@

		"""


		import numpy as np

		# from numpy.linalg import norm
Expand Down