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examples/run_jump_ocp.py

@@ -2,6 +2,7 @@
 import crocoddyl  # noqa
 import aligator
 import numpy as np
+import pinocchio as pin
 import matplotlib.pyplot as plt
 
 from quadruped_reactive_walking import Params

examples/simple_ocp.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pinocchio as pin
 import quadruped_reactive_walking as qrw
 from quadruped_reactive_walking.controller import Controller
 import time

include/qrw/Estimator.hpp

@@ -174,13 +174,13 @@ class Estimator {
   Vector4 feetStancePhaseDuration_;  //< Number of loops during which each foot has been in contact
   Vector4 feetStatus_;               //< Contact status of the four feet
 
-  pinocchio::Model model_;          //< Pinocchio models for frame computations and forward kinematics
-  pinocchio::Data data_;            //< Pinocchio datas for frame computations and forward kinematics
-  Vector19 q_FK_;                   //< Configuration vector for Forward Kinematics
-  Vector18 v_FK_;                   //< Velocity vector for Forward Kinematics
-  Vector3 baseVelocityFK_;          //< Base linear velocity estimated by Forward Kinematics
-  Vector3 basePositionFK_;          //< Base position estimated by Forward Kinematics
-  Vector3 b_baseVelocity_;          //< Filtered estimated velocity at center base (base frame)
+  pinocchio::Model model_;  //< Pinocchio models for frame computations and forward kinematics
+  pinocchio::Data data_;    //< Pinocchio datas for frame computations and forward kinematics
+  Vector19 q_FK_;           //< Configuration vector for Forward Kinematics
+  Vector18 v_FK_;           //< Velocity vector for Forward Kinematics
+  Vector3 baseVelocityFK_;  //< Base linear velocity estimated by Forward Kinematics
+  Vector3 basePositionFK_;  //< Base position estimated by Forward Kinematics
+  Vector3 b_baseVelocity_;  //< Filtered estimated velocity at center base (base frame)
 
   ComplementaryFilter positionFilter_;  //< Complementary filter for base position
   ComplementaryFilter velocityFilter_;  //< Complementary filter for base velocity

python/quadruped_reactive_walking/ocp_defs/walking.py

@@ -2,7 +2,7 @@
 import pinocchio as pin
 import crocoddyl
 
-from typing import List, Optional
+from typing import Optional
 from quadruped_reactive_walking import Params, ResidualModelFlyHigh
 from ..wb_mpc import task_spec
 from ..tools.utils import no_copy_roll, no_copy_roll_insert
@@ -361,7 +361,6 @@ def update_model(
             self.update_tracking_costs(model.differential.costs, base_vel_ref, support_feet)
 
     def update_tracking_costs(self, costs, base_vel_ref: pin.Motion, support_feet):
-        index = 0
         for i in self.task.feet_ids:
             name = "{}_forceReg".format(self.rmodel.frames[i].name)
             costs.changeCostStatus(name, i in support_feet)
@@ -379,4 +378,4 @@ def update_tracking_costs(self, costs, base_vel_ref: pin.Motion, support_feet):
 
         if base_vel_ref is not None and self.has_base_vel_cost:
             name = "base_velocity_tracking"
-            costs.costs[name].cost.residual.reference = base_vel_ref
+            costs.costs[name].cost.residual.reference = base_vel_ref

python/quadruped_reactive_walking/tools/utils.py

@@ -7,6 +7,7 @@
 except ImportError:
     from multiprocessing.shared_memory import SharedMemory
 
+
 def quaternionToRPY(quat):
     """
     Quaternion (4 x 0) to Roll Pitch Yaw (3 x 1)

python/quadruped_reactive_walking/wb_mpc/ocp_crocoddyl.py

@@ -10,6 +10,7 @@
 from . import task_spec
 from ..ocp_defs.walking import WalkingOCPBuilder
 
+
 class CrocOCP(OCPAbstract):
     """
     Generate a Crocoddyl OCP for the control task.

tests/ros/test_ros_service.py

@@ -50,7 +50,6 @@ def _trigger_solve(self, msg):
         )
 
 
-
 if __name__ == "__main__":
     # Parsing arguments
     parser = argparse.ArgumentParser()
@@ -59,24 +58,24 @@ def _trigger_solve(self, msg):
     parser.add_argument("--service", help="Name of the service to test", default="qrw_wbmpc/test")
     args = parser.parse_args()
 
-    start_client = (args.client or not args.server)
-    start_server = (args.server or not args.client)
+    start_client = args.client or not args.server
+    start_server = args.server or not args.client
 
     # Starintg ros node
     rospy.init_node("qrw_wbmpc" + ("_client" if start_client else "") + ("_server" if start_server else ""))
 
     # Running client and/or server
-    if(start_server):
+    if start_server:
         server = TestServer(args.service)
 
-    if(start_client):
+    if start_client:
         client = TestClient(args.service)
         client.solve()
 
     # Simple test that everything went fine
     assert not rospy.is_shutdown()
 
     # If the client is not started, let the server running
-    if(not start_client):
+    if not start_client:
         print(f"Server running ({args.service})...")
-        rospy.spin()
+        rospy.spin()