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numpy dependency removed for rev kin test

This commit is contained in:
Nicolas 2025-12-06 15:55:22 +01:00
parent 2b2f854ee4
commit 1c230f365f
1 changed files with 3 additions and 3 deletions
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6
tests/test_rev_kinematics.py
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@ -1,11 +1,10 @@
import numpy as np
import copapy as cp import copapy as cp
# Arm lengths # Arm lengths
l1, l2 = 1.8, 2.0 l1, l2 = 1.8, 2.0
# Target position # Target position
target = np.array([0.7, 0.7]) target = cp.vector([0.7, 0.7])
# Learning rate for iterative adjustment # Learning rate for iterative adjustment
alpha = 0.1 alpha = 0.1
@ -41,7 +40,8 @@ def test_two_arms():
print(f"Joint angles: {tg.read_value(theta)}") print(f"Joint angles: {tg.read_value(theta)}")
print(f"Joint position: {tg.read_value(joint)}") print(f"Joint position: {tg.read_value(joint)}")
print(f"End-effector position: {tg.read_value(effector)} quadratic error = {tg.read_value(error)}") print(f"End-effector position: {tg.read_value(effector)}")
print(f"quadratic error = {tg.read_value(error)}")
if __name__ == '__main__': if __name__ == '__main__':