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pyomeca · Oct 29, 2024 · 5a3fcf5 · 5a3fcf5
1 parent 12a35d8
commit 5a3fcf5
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/bioptim/dynamics/dynamics_functions.py b/bioptim/dynamics/dynamics_functions.py
@@ -1118,9 +1118,7 @@ def holonomic_torque_driven(
         q_u = DynamicsFunctions.get(nlp.states["q_u"], states)
         qdot_u = DynamicsFunctions.get(nlp.states["qdot_u"], states)
         tau = DynamicsFunctions.get(nlp.controls["tau"], controls)
-        q_v_init = DM.zeros(
-            nlp.model.nb_dependent_joints
-        )
+        q_v_init = DM.zeros(nlp.model.nb_dependent_joints)
         qddot_u = nlp.model.partitioned_forward_dynamics()(q_u, qdot_u, q_v_init, tau)
 
         return DynamicsEvaluation(dxdt=vertcat(qdot_u, qddot_u), defects=None)
diff --git a/bioptim/limits/penalty.py b/bioptim/limits/penalty.py
@@ -1053,7 +1053,6 @@ def minimize_segment_velocity(
 
             return segment_angular_velocity[axes]
 
-
         @staticmethod
         def state_continuity(penalty: PenaltyOption, controller: PenaltyController | list):
             if controller.control_type in (

diff --git a/bioptim/models/biorbd/holonomic_biorbd_model.py b/bioptim/models/biorbd/holonomic_biorbd_model.py
@@ -410,7 +410,11 @@ def _compute_qdot_v(self) -> Function:
         q = self.compute_q()(self.q_u, self.q_v_init)
         biorbd_return = self.compute_qdot_v()(q, self.qdot_u)
         casadi_fun = Function(
-            "compute_qdot_v", [self.q_u, self.qdot_u, self.q_v_init], [biorbd_return], ["q_u", "qdot_u", "q_v_init"], ["qdot_v"]
+            "compute_qdot_v",
+            [self.q_u, self.qdot_u, self.q_v_init],
+            [biorbd_return],
+            ["q_u", "qdot_u", "q_v_init"],
+            ["qdot_v"],
         )
         return casadi_fun