Pattern improvements on contact expressions after review

ami-iit · Jan 19, 2024 · 11e715e · 11e715e
1 parent f01632b
commit 11e715e
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/src/hippopt/robot_planning/expressions/contacts.py b/src/hippopt/robot_planning/expressions/contacts.py
@@ -92,13 +92,11 @@ def contact_points_centroid(
 
     input_vars = []
     p = []
-    for i in range(number_of_points):
-        p.append(cs.MX.sym(point_position_names[i], 3))
-        input_vars.append(p[i])
+    for point_position_name in point_position_names:
+        p.append(cs.MX.sym(point_position_name, 3))
+        input_vars.append(p[-1])
 
-    input_names = []
-    for var in input_vars:
-        input_names.append(var.name())
+    input_names = [var.name() for var in input_vars]
 
     centroid = cs.DM.zeros(3, 1)