Commit 9ac3d287 authored by Guilhem Saurel's avatar Guilhem Saurel

[Python] remove useless parenthesis

parent 38295f48
......@@ -121,7 +121,7 @@ def loadTalos(legs=False):
m2.upperPositionLimit = upperPos
m2.lowerPositionLimit = lowerPos
m2.effortLimit = effort
assert (jid == j.id)
assert jid == j.id
m2.appendBodyToJoint(jid, Y, pin.SE3.Identity())
upperPos = m2.upperPositionLimit
......@@ -155,7 +155,7 @@ def loadTalos(legs=False):
model_path = getModelPath(join('talos_data/robots', URDF_FILENAME))
robot.q0 = readParamsFromSrdf(robot.model, join(model_path, 'talos_data/srdf', SRDF_FILENAME), False)
assert ((m2.armature[:6] == 0.).all())
assert (m2.armature[:6] == 0.).all()
# Add the free-flyer joint limits to the new model
addFreeFlyerJointLimits(robot.model)
......@@ -220,7 +220,7 @@ def loadPanda():
def loadUR(robot=5, limited=False, gripper=False):
assert (not (gripper and (robot == 10 or limited)))
assert not (gripper and (robot == 10 or limited))
URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else '', 'gripper' if gripper else 'robot')
if robot == 5 or robot == 3 and gripper:
SRDF_FILENAME = "ur%i%s.srdf" % (robot, '_gripper' if gripper else '')
......
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