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qaz1678249 / scalar_kinematics

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[ver. 0.3.5] Invalid index #7

Open Suke0811 opened 11 months ago

Suke0811 commented 11 months ago

The example code fails with gripper =True.

fk_res = my_scaler_k.scaler_forward_kinematics(which_leg, joint_angles, with_body=False, with_gripper = True, L_actuator=105, theta_actuator=0)
Traceback (most recent call last):
  File "C:/Users/TanakaYusuke/PycharmProjects/scalar_kinematics/scaler_kin/example.py", line 49, in <module>
    fk_res = my_scaler_k.scaler_forward_kinematics(which_leg, joint_angles, with_body=False, with_gripper = True, L_actuator=105, theta_actuator=0)
  File "C:\Users\TanakaYusuke\PycharmProjects\scalar_kinematics\scaler_kin\v3\SCALAR_kinematics.py", line 67, in scaler_forward_kinematics
    gripper_center_origin_toe_M, gripper_center_origin_toe_N = self.k_model.leg_gripper_fk(body_angle, joint_angles, L_actuator, theta_actuator, which_leg)
  File "C:\Users\TanakaYusuke\PycharmProjects\scalar_kinematics\scaler_kin\v3\SCALER_v2_Leg_6DOF_gripper.py", line 432, in leg_gripper_fk
    T_BC = np.array([[R_BC[0,0],R_BC[0,1],R_BC[0,2],x_pos[0]],
IndexError: invalid index to scalar variable.

Process finished with exit code 1
qaz1678249 commented 11 months ago

This is an old issue related to python version, I think I fixed the same issue on the computer in the lab before.

Suke0811 commented 11 months ago

You need to always push any big fix to the repository. If not pushed, it's not fixed.

On Tue, Oct 24, 2023, 11:31 AM qaz1678249 @.***> wrote:

This is an old issue related to python version, I think I fixed the same issue on the computer in the lab before.

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