From c849e4bfca21499651afcb45cc3e837d9a8ef515 Mon Sep 17 00:00:00 2001 From: Lukas Macha Date: Wed, 4 Jan 2023 19:35:53 +0000 Subject: [PATCH] fixed np.float to float to work with numpy > 1.20 --- packages/Python/modern_robotics/core.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/packages/Python/modern_robotics/core.py b/packages/Python/modern_robotics/core.py index 4b44235..4083992 100644 --- a/packages/Python/modern_robotics/core.py +++ b/packages/Python/modern_robotics/core.py @@ -652,7 +652,7 @@ def JacobianBody(Blist, thetalist): [-1.44321167, 2.94561275, 1.43306521, 0.3] [-2.06639565, 1.82881722, -1.58868628, 0.4]]) """ - Jb = np.array(Blist).copy().astype(np.float) + Jb = np.array(Blist).copy().astype(float) T = np.eye(4) for i in range(len(thetalist) - 2, -1, -1): T = np.dot(T,MatrixExp6(VecTose3(np.array(Blist)[:, i + 1] \ @@ -684,7 +684,7 @@ def JacobianSpace(Slist, thetalist): [0.2, 0.43654132, -2.43712573, 2.77535713] [0.2, 2.96026613, 3.23573065, 2.22512443]]) """ - Js = np.array(Slist).copy().astype(np.float) + Js = np.array(Slist).copy().astype(float) T = np.eye(4) for i in range(1, len(thetalist)): T = np.dot(T, MatrixExp6(VecTose3(np.array(Slist)[:, i - 1] \ @@ -1431,9 +1431,9 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \ """ taumat = np.array(taumat).T Ftipmat = np.array(Ftipmat).T - thetamat = taumat.copy().astype(np.float) + thetamat = taumat.copy().astype(float) thetamat[:, 0] = thetalist - dthetamat = taumat.copy().astype(np.float) + dthetamat = taumat.copy().astype(float) dthetamat[:, 0] = dthetalist for i in range(np.array(taumat).shape[1] - 1): for j in range(intRes):