Merge branch 'main' into 'matrices_rockit'

Main See merge request robotgenskill/public_code/invariants_py!19
trajectory-invariants · May 6, 2024 · 7c1980b · 7c1980b
2 parents 69342e2 + f0022a6
commit 7c1980b
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diff --git a/invariants_py/rockit_calculate_vector_invariants_position.py b/invariants_py/rockit_calculate_vector_invariants_position.py
@@ -122,7 +122,7 @@ def calculate_invariants(self,measured_positions,stepsize):
         invariants = np.array(invars).T # make a N-1 x 3 array
         invariants = np.vstack((invariants, invariants[-1,:])) # make a N x 3 array by repeating last row
         calculated_trajectory = np.array(p_obj_sol).T # make a N x 3 array
-        calculated_movingframe = np.transpose(np.reshape(R_t_sol.T, (N, 3, 3)), (0, 2, 1))
+        calculated_movingframe = np.transpose(np.reshape(R_t_sol.T, (-1, 3, 3)), (0, 2, 1))
         return invariants, calculated_trajectory, calculated_movingframe
 
 if __name__ == "__main__":

diff --git a/pyproject.toml b/pyproject.toml
@@ -14,7 +14,6 @@ matplotlib = "^3.3.1, <3.8.0" # open bug in >=3.8.0 https://github.com/matplotli
 numpy = "^1.19.0"
 ipython = "^7.15.0"
 numpy-stl = "^2.12.0"
-importlib_resources = "^5.0.0"
 pandas = "^1.1.0"
 urdf2casadi = "^1.0.0"
 jupyter = "^1.0.0"