Commit e51fd385 authored by Guilhem Saurel's avatar Guilhem Saurel

[Python] reformat for tabs to space

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