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inria-paris-robotics-lab · Feb 29, 2024 · 7151290 · 7151290
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commit 7151290
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/include/qrw/Params.hpp b/include/qrw/Params.hpp
@@ -144,10 +144,10 @@ struct Params {
   bool solo3D;  // Enable the 3D environment with corresponding planner blocks
 
   // Not defined in yaml
-  MatrixNi gait;                      // Initial gait matrix (Eigen)
-  Scalar T_gait;                      // Period of the gait
-  int N_gait;                         // Number of steps in gait
-  uint window_size;                   // Window size
+  MatrixNi gait;     // Initial gait matrix (Eigen)
+  Scalar T_gait;     // Period of the gait
+  int N_gait;        // Number of steps in gait
+  uint window_size;  // Window size
 
   YAML::Node task;
   YAML::Node sim;

diff --git a/python/quadruped_reactive_walking/ocp_defs/walking.py b/python/quadruped_reactive_walking/ocp_defs/walking.py
@@ -221,7 +221,7 @@ def _add_force_reg(self, i: int, m: DifferentialActionModelContactFwdDynamics):
         name = "{}_forceReg".format(self.rmodel.frames[i].name)
         ref_force = pin.Force.Zero()
         nc = len(m.differential.contacts.active_set)
-        if(nc > 0):
+        if nc > 0:
             ref_force.linear[2] = self.task.robot_weight / nc
         force_reg = CostModelResidual(
             self.state,

diff --git a/src/Params.cpp b/src/Params.cpp
@@ -58,7 +58,7 @@ Params::Params()
       v_switch(),
       fc_v_esti(0.0),
 
-      T_gait(0.0)                   // Period of the gait
+      T_gait(0.0)  // Period of the gait
 {
   Kp_main.setZero();
   Kd_main.setZero();