Commit bed7917b authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[cleanup] Used "" instead of ''

parent 738e2eb5
...@@ -48,11 +48,11 @@ def loadANYmal(withArm=None): ...@@ -48,11 +48,11 @@ def loadANYmal(withArm=None):
if withArm is None: if withArm is None:
URDF_FILENAME = "anymal.urdf" URDF_FILENAME = "anymal.urdf"
SRDF_FILENAME = "anymal.srdf" SRDF_FILENAME = "anymal.srdf"
REF_POSTURE = 'standing' REF_POSTURE = "standing"
elif withArm == "kinova": elif withArm == "kinova":
URDF_FILENAME = "anymal-kinova.urdf" URDF_FILENAME = "anymal-kinova.urdf"
SRDF_FILENAME = "anymal-kinova.srdf" SRDF_FILENAME = "anymal-kinova.srdf"
REF_POSTURE = 'standing_with_arm_up' REF_POSTURE = "standing_with_arm_up"
URDF_SUBPATH = "/anymal_b_simple_description/robots/" + URDF_FILENAME URDF_SUBPATH = "/anymal_b_simple_description/robots/" + URDF_FILENAME
SRDF_SUBPATH = "/anymal_b_simple_description/srdf/" + SRDF_FILENAME SRDF_SUBPATH = "/anymal_b_simple_description/srdf/" + SRDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH) modelPath = getModelPath(URDF_SUBPATH)
...@@ -160,7 +160,7 @@ def loadHyQ(): ...@@ -160,7 +160,7 @@ def loadHyQ():
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file # Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, 'standing') readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing")
# Add the free-flyer joint limits # Add the free-flyer joint limits
addFreeFlyerJointLimits(robot) addFreeFlyerJointLimits(robot)
return robot return robot
...@@ -178,7 +178,7 @@ def loadSolo(solo=True): ...@@ -178,7 +178,7 @@ def loadSolo(solo=True):
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file # Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, 'standing') readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing")
# Add the free-flyer joint limits # Add the free-flyer joint limits
addFreeFlyerJointLimits(robot) addFreeFlyerJointLimits(robot)
return robot return robot
...@@ -193,7 +193,7 @@ def loadKinova(): ...@@ -193,7 +193,7 @@ def loadKinova():
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath]) robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
# Load SRDF file # Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, 'arm_up') readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "arm_up")
return robot return robot
...@@ -242,7 +242,7 @@ def loadICub(reduced=True): ...@@ -242,7 +242,7 @@ def loadICub(reduced=True):
def loadUR(robot=5, limited=False): def loadUR(robot=5, limited=False):
URDF_FILENAME = 'ur%i%s_robot.urdf' % (robot, '_joint_limited' if limited else '') URDF_FILENAME = "ur%i%s_robot.urdf" % (robot, "_joint_limited" if limited else '')
URDF_SUBPATH = '/ur_description/urdf/' + URDF_FILENAME URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH) modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath]) return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
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