[minor] Apply linter advice to EE example

stephane-caron · Mar 1, 2024 · 37e97ea · 37e97ea
1 parent a90ef06
commit 37e97ea
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/examples/end_effector_to_target.py b/examples/end_effector_to_target.py
@@ -13,16 +13,16 @@
 
 robot = load_robot_description("ur10_description")
 
-# Frame Details:
-frame_name = "ee_frame"
+# Frame details
+FRAME_NAME = "ee_frame"
 joint_name = robot.model.names[-1]
 parent_joint = robot.model.getJointId(joint_name)
 parent_frame = robot.model.getFrameId(joint_name)
 placement = pinocchio.SE3.Identity()
 
 ee_frame = robot.model.addFrame(
     pinocchio.Frame(
-        frame_name,
+        FRAME_NAME,
         parent_joint,
         parent_frame,
         placement,
@@ -45,7 +45,7 @@
 pinocchio.forwardKinematics(robot.model, robot.data, q_final)
 
 target_pose = robot.data.oMi[parent_joint]
-ee_task = pink.tasks.FrameTask(frame_name, [1.0, 1.0, 1.0], [1.0, 1.0, 1.0])
+ee_task = pink.tasks.FrameTask(FRAME_NAME, [1.0, 1.0, 1.0], [1.0, 1.0, 1.0])
 ee_task.set_target(target_pose)
 tasks = [ee_task]