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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Update ikfast for newer sympy #1391

Closed cielavenir closed 3 months ago

cielavenir commented 3 months ago

This pull request enabled iksolver generation with new version of sympy.

I tested 0.7.1 / 0.7.6.1 / 1.12.1.

This is required to upgrade our obsolete version of sympy dependency.

On 0.7.6.1 and 1.12.1, somehow, tj0 appears in the generated code. I forcibly fixed the issue by adding tangent declaration to the generated code, but I don't know the side effect at all.

cc @ntohge @wkentaro @jerasman

cielavenir commented 3 months ago

I remember MCHN is still ikfastpy user, right? @liuhuanjim013

cielavenir commented 3 months ago

I should also review https://github.com/rdiankov/openrave/pull/407

rdiankov commented 3 months ago

Thanks~