Bart/bullet3
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more formatting.

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This commit is contained in:
Jeffrey Bingham
2017-09-27 22:35:02 -07:00
parent d49fade704
commit cd231c030e
2 changed files with 9 additions and 14 deletions
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11
examples/pybullet/examples/jacobian.py
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@@ -1,5 +1,3 @@
import sys
sys.path.append('/Users/bingjeff/Documents/projects/walkman/bullet3/bin/')
import pybullet as p
@@ -14,12 +12,9 @@ def setJointPosition(robot, position, kp=1.0, kv=0.3):
num_joints = p.getNumJoints(robot)
zero_vec = [0.0] * num_joints
if len(position) == num_joints:
p.setJointMotorControlArray(robot, range(num_joints),
p.POSITION_CONTROL,
targetPositions=position,
targetVelocities=zero_vec,
positionGains=[kp] * num_joints,
velocityGains=[kv] * num_joints)
p.setJointMotorControlArray(robot, range(num_joints), p.POSITION_CONTROL,
targetPositions=position, targetVelocities=zero_vec,
positionGains=[kp] * num_joints, velocityGains=[kv] * num_joints)
else:
print("Not setting torque. "
"Expected torque vector of "