Small fix

rdesarz · rdesarz · commit bdc3f89ea1cb · 2025-11-24T22:29:53.000+01:00
diff --git a/examples/example_4_physics_simulation.py b/examples/example_4_physics_simulation.py
@@ -184,7 +184,7 @@ def main():
         t_ss=t_ss,
         t_ds=t_ds,
         t_init=t_init,
-        t_end=t_end,
+        t_final=t_end,
         dt=dt,
         traj_generator=BezierCurveFootPathGenerator(max_height_foot),
     )
@@ -321,7 +321,7 @@ def main():
             zmp_ref=zmp_ref_plot,
         )
 
-        plot_contact_forces_and_state(t=t, force_rf=rf_forces, force_lf=lf_forces)
+        plot_contact_forces_and_state(t=t, force_rf=rf_forces, force_lf=lf_forces, states=[])
 
         plt.show()
 

Original file line number	Diff line number	Diff line change
`@@ -184,7 +184,7 @@ def main():`
`184`	`184`	`t_ss=t_ss,`
`185`	`185`	`t_ds=t_ds,`
`186`	`186`	`t_init=t_init,`
`187`		`- t_end=t_end,`
	`187`	`+ t_final=t_end,`
`188`	`188`	`dt=dt,`
`189`	`189`	`traj_generator=BezierCurveFootPathGenerator(max_height_foot),`
`190`	`190`	`)`
`@@ -321,7 +321,7 @@ def main():`
`321`	`321`	`zmp_ref=zmp_ref_plot,`
`322`	`322`	`)`
`323`	`323`
`324`		`- plot_contact_forces_and_state(t=t, force_rf=rf_forces, force_lf=lf_forces)`
	`324`	`+ plot_contact_forces_and_state(t=t, force_rf=rf_forces, force_lf=lf_forces, states=[])`
`325`	`325`
`326`	`326`	`plt.show()`
`327`	`327`