Cast down NumPy array to float #50
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Fixes #49 After upgrading NumPy and SciPy to respectively 1.24.4 and 1.10.1 I started to get the following error when trying to load a robot URDF: Traceback (most recent call last): File "load_in_yourdfpy.py", line 36, in <module> robot = load_robot_description(f"{args.name}_description") File "/home/user/src/robot_descriptions.py/examples/robot_descriptions/loaders/yourdfpy.py", line 58, in load_robot_description return yourdfpy.URDF.load(module.URDF_PATH, mesh_dir=module.PACKAGE_PATH) File "/home/user/.local/lib/python3.8/site-packages/yourdfpy/urdf.py", line 989, in load return URDF(robot=URDF._parse_robot(xml_element=xml_root), **kwargs) File "/home/user/.local/lib/python3.8/site-packages/yourdfpy/urdf.py", line 641, in __init__ self._scene = self._create_scene( File "/home/user/.local/lib/python3.8/site-packages/yourdfpy/urdf.py", line 1321, in _create_scene matrix, _ = self._forward_kinematics_joint(j) File "/home/user/.local/lib/python3.8/site-packages/yourdfpy/urdf.py", line 1072, in _forward_kinematics_joint matrix = origin @ tra.rotation_matrix(q, joint.axis) File "/home/user/.local/lib/python3.8/site-packages/trimesh/transformations.py", line 361, in rotation_matrix M = np.diag([cosa, cosa, cosa, 1.0]) File "<__array_function__ internals>", line 200, in diag File "/home/user/.local/lib/python3.8/site-packages/numpy/lib/twodim_base.py", line 295, in diag v = asanyarray(v) ValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (4,) + inhomogeneous part. The issue stems from urdf.py where: matrix = origin @ tra.rotation_matrix(q, joint.axis) Won't work well by asanyarray (as per the new requirements) if q is a one-dimensional array, which can happen here. I'll suggest a fix in a PR.
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I am also getting hit by this error, thanks for the fix. |
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this should be merged! also fixes my problem |
clemense
approved these changes
Dec 17, 2023
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Fixes #49
After upgrading NumPy and SciPy to respectively 1.24.4 and 1.10.1 I started to get the following error when trying to load a robot URDF:
The issue stems from urdf.py where:
Won't work well by asanyarray (as per the new requirements) if q is a one-dimensional array, which can happen here. I'll suggest a fix in a PR.