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include/qrw/Params.hpp

@@ -109,10 +109,10 @@ struct Params {
   bool mpc_in_rosnode;    // Run the MPC on a separate rosnode
 
   // General control parameters
-  VectorN q_init;    // Initial articular positions
-  VectorN pose_init; //Initial base pose
-  Scalar dt_wbc; // Time step of the whole body control
-  Scalar dt_mpc; // Time step of the model predictive control
+  VectorN q_init;     // Initial articular positions
+  VectorN pose_init;  // Initial base pose
+  Scalar dt_wbc;      // Time step of the whole body control
+  Scalar dt_mpc;      // Time step of the model predictive control
   int mpc_wbc_ratio;
   uint N_periods;                        // Number of gait periods in the MPC prediction horizon
   bool save_guess;                       // true to save the initial result of the mpc

python/quadruped_reactive_walking/controller.py

@@ -187,6 +187,7 @@ def compute(self, device, qc=None):
                 self.mpc.solve(self.k, x, self.target_footstep.copy(), self.target_base.copy())
             except ValueError:
                 import traceback
+
                 self.error = True
                 traceback.print_exc()
 

python/quadruped_reactive_walking/ocp_defs/walking.py

@@ -30,8 +30,8 @@ def __init__(self, params: Params, footsteps, base_vel_refs):
         self.rdata = self.rmodel.createData()
 
         self.life_gait = params.gait
-        self.starting_gait = np.array([[1,1,0,0]] * params.starting_nodes, dtype=np.int32)
-        self.ending_gait = np.array([[1,1,0,0]] * params.starting_nodes, dtype=np.int32)
+        self.starting_gait = np.array([[1, 1, 0, 0]] * params.starting_nodes, dtype=np.int32)
+        self.ending_gait = np.array([[1, 1, 0, 0]] * params.starting_nodes, dtype=np.int32)
         self.current_gait = np.append(
             self.starting_gait,
             self.ending_gait[0].reshape(1, -1),

python/quadruped_reactive_walking/tools/pybullet_sim.py

@@ -281,8 +281,8 @@ def __init__(self, pose_init, q_init, env_id, use_flat_plane, enable_pyb_GUI, dt
             # Set base pose
             pyb.resetBasePositionAndOrientation(
                 self.robotId,
-                [pose_init[0], pose_init[1], z_offset], # Ignore Z_height to put the robot on the ground by default
-                pose_init[3:] #pin.Quaternion(pin.rpy.rpyToMatrix(p_roll, p_pitch, 0.0)).coeffs(),
+                [pose_init[0], pose_init[1], z_offset],  # Ignore Z_height to put the robot on the ground by default
+                pose_init[3:],  # pin.Quaternion(pin.rpy.rpyToMatrix(p_roll, p_pitch, 0.0)).coeffs(),
             )
 
         # Fix the base in the world frame

python/quadruped_reactive_walking/wb_mpc/task_spec.py

@@ -120,5 +120,3 @@ def __init__(self, params: Params):
         self.xref = self.x0_reduced
         # self.uref = self.u0
         self.u0 = self.uref
-
-

src/Joystick.cpp

@@ -12,12 +12,9 @@ Joystick::Joystick(Params const& params)
   gp_alpha_pos = 0.0;
   p_ref_.head(3) = params_->pose_init.head(3);
   p_ref_.tail(3) = pinocchio::rpy::matrixToRpy(
-    Eigen::Quaternion<double>(
-      params_->pose_init(3),
-      params_->pose_init(4),
-      params_->pose_init(5),
-      params_->pose_init(6)
-    ).toRotationMatrix());
+      Eigen::Quaternion<double>(
+          params_->pose_init(3), params_->pose_init(4), params_->pose_init(5), params_->pose_init(6))
+          .toRotationMatrix());
 
   lock_time_L1_ = std::chrono::system_clock::now();
 
@@ -160,12 +157,9 @@ void Joystick::update_v_ref(int k, bool gait_is_static) {
       gp_alpha_vel = params_->gp_alpha_vel;
       p_ref_.head(3) = params_->pose_init.head(3);
       p_ref_.tail(3) = pinocchio::rpy::matrixToRpy(
-        Eigen::Quaternion<double>(
-          params_->pose_init(3),
-          params_->pose_init(4),
-          params_->pose_init(5),
-          params_->pose_init(6)
-        ).toRotationMatrix());
+          Eigen::Quaternion<double>(
+              params_->pose_init(3), params_->pose_init(4), params_->pose_init(5), params_->pose_init(6))
+              .toRotationMatrix());
       gp_alpha_pos = 0.0;
     }
   }

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
       footsteps_under_shoulders(12)  // Fill with zeros, will be filled with values later
 {
   Kp_main.setZero();