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fixed np.float to float to work with numpy > 1.20

This commit is contained in:
Lukas Macha 2023-01-04 19:35:53 +00:00
parent b294cc9e6e
commit c849e4bfca
1 changed files with 4 additions and 4 deletions
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8
packages/Python/modern_robotics/core.py
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@ -652,7 +652,7 @@ def JacobianBody(Blist, thetalist):
[-1.44321167, 2.94561275, 1.43306521, 0.3] [-1.44321167, 2.94561275, 1.43306521, 0.3]
[-2.06639565, 1.82881722, -1.58868628, 0.4]]) [-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) T = np.eye(4)
for i in range(len(thetalist) - 2, -1, -1): for i in range(len(thetalist) - 2, -1, -1):
T = np.dot(T,MatrixExp6(VecTose3(np.array(Blist)[:, i + 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, 0.43654132, -2.43712573, 2.77535713]
[0.2, 2.96026613, 3.23573065, 2.22512443]]) [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) T = np.eye(4)
for i in range(1, len(thetalist)): for i in range(1, len(thetalist)):
T = np.dot(T, MatrixExp6(VecTose3(np.array(Slist)[:, i - 1] \ 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 taumat = np.array(taumat).T
Ftipmat = np.array(Ftipmat).T Ftipmat = np.array(Ftipmat).T
thetamat = taumat.copy().astype(np.float) thetamat = taumat.copy().astype(float)
thetamat[:, 0] = thetalist thetamat[:, 0] = thetalist
dthetamat = taumat.copy().astype(np.float) dthetamat = taumat.copy().astype(float)
dthetamat[:, 0] = dthetalist dthetamat[:, 0] = dthetalist
for i in range(np.array(taumat).shape[1] - 1): for i in range(np.array(taumat).shape[1] - 1):
for j in range(intRes): for j in range(intRes):