diff --git a/motion/hybridpath_controller/hybridpath_controller/adaptive_backstep.py b/motion/hybridpath_controller/hybridpath_controller/adaptive_backstep.py
index 4c006500..d3c4b6e8 100644
--- a/motion/hybridpath_controller/hybridpath_controller/adaptive_backstep.py
+++ b/motion/hybridpath_controller/hybridpath_controller/adaptive_backstep.py
@@ -57,7 +57,7 @@ def control_law(self, state: Odometry, reference: HybridpathReference) -> np.nda
         return tau
     
     @staticmethod
-    def calculate_coriolis_matrix(nu): 
+    def calculate_coriolis_matrix(nu: np.ndarray) -> np.ndarray: 
         """
         Returns the Coriolis matrix times the velocity vector nu.
         """
@@ -123,4 +123,5 @@ def odom_to_state(msg: Odometry) -> np.ndarray:
         r = msg.twist.twist.angular.z 
 
         state = np.array([x, y, yaw, u, v, r])
+        
         return state