fix E741

loco-3d · May 14, 2024 · 67b1a38 · 67b1a38
1 parent 9c35d8c
commit 67b1a38
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/examples/notebooks/solutions/cartpole_dyn.py b/examples/notebooks/solutions/cartpole_dyn.py
@@ -9,13 +9,13 @@ def cartpole_dynamics(model, data, x, u):
     f = u[0].item()
 
     # Shortname for system parameters
-    m1, m2, l, g = model.m1, model.m2, model.l, model.g
+    m1, m2, le, g = model.m1, model.m2, model.l, model.g
     s, c = np.sin(th), np.cos(th)
 
     # Defining the equation of motions
     m = m1 + m2
     mu = m1 + m2 * s**2
-    xddot = (f + m2 * c * s * g - m2 * l * s * thdot) / mu
-    thddot = (c * f / l + m * g * s / l - m2 * c * s * thdot**2) / mu
+    xddot = (f + m2 * c * s * g - m2 * le * s * thdot) / mu
+    thddot = (c * f / le + m * g * s / le - m2 * c * s * thdot**2) / mu
 
     return [xddot, thddot]