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bit-bots · Mar 3, 2024 · 1058ffc · 1058ffc
1 parent 2619a88
commit 1058ffc
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/teaching.py b/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/teaching.py
@@ -4,10 +4,11 @@
 class TeachingMode(AbstractHCMDecisionElement):
     """
     Decides if the robot is currently in teaching mode.
-    In the teaching mode the robot can be puppeteered freely. 
+    In the teaching mode the robot can be puppeteered freely.
     To do this we deactivate the torque on all motors.
     If we leave the teaching mode we activate the torque again.
     """
+
     def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.last_state_on = False
@@ -27,5 +28,3 @@ def perform(self, reevaluate=False):
 
     def get_reevaluate(self):
         return True
-
-
diff --git a/teaching_mode.py b/teaching_mode.py
@@ -55,7 +55,7 @@ def joint_states_callback(self, msg: JointState):
 
 
 if __name__ == "__main__":
-    rclpy.init(args=args)
+    rclpy.init()
     node = TeachingNode()
     try:
         rclpy.spin(node)