Commit e51fd385 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[Python] reformat for tabs to space

parent dda0e2e3
...@@ -3,11 +3,13 @@ ...@@ -3,11 +3,13 @@
from __future__ import print_function from __future__ import print_function
import pinocchio
from dynamic_graph import plug from dynamic_graph import plug
from dynamic_graph.sot.core.math_small_entities import Derivator_of_Vector from dynamic_graph.sot.core.math_small_entities import Derivator_of_Vector
from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import AbstractHumanoidRobot from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import \
import pinocchio AbstractHumanoidRobot
from rospkg import RosPack from rospkg import RosPack
...@@ -70,18 +72,17 @@ class Talos(AbstractHumanoidRobot): ...@@ -70,18 +72,17 @@ class Talos(AbstractHumanoidRobot):
raise RuntimeError('"' + rosParamName + '" is not a ROS parameter.') raise RuntimeError('"' + rosParamName + '" is not a ROS parameter.')
s = rospy.get_param(rosParamName) s = rospy.get_param(rosParamName)
self.loadModelFromString(s, rootJointType=pinocchio.JointModelFreeFlyer, self.loadModelFromString(s, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True)
removeMimicJoints=True)
else: else:
self.loadModelFromUrdf(self.defaultFilename, self.loadModelFromUrdf(self.defaultFilename,
rootJointType=pinocchio.JointModelFreeFlyer, rootJointType=pinocchio.JointModelFreeFlyer,
removeMimicJoints=True) removeMimicJoints=True)
assert hasattr(self, "pinocchioModel") assert hasattr(self, "pinocchioModel")
assert hasattr(self, "pinocchioData") assert hasattr(self, "pinocchioData")
if device!=None: if device != None:
self.device = device self.device = device
AbstractHumanoidRobot.__init__(self, name, tracer) AbstractHumanoidRobot.__init__(self, name, tracer)
self.OperationalPoints.append('waist') self.OperationalPoints.append('waist')
......
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