From 1191adbec806e7760691965dfbfa776b7efd0c5e Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 21 Mar 2024 19:58:35 +0100
Subject: [PATCH] =?UTF-8?q?tooling:=20black=20&=20isort=20=E2=86=92=20ruff?=
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---
python/test/compare_pin_inv_dyn.py | 9 +++------
1 file changed, 3 insertions(+), 6 deletions(-)
diff --git a/python/test/compare_pin_inv_dyn.py b/python/test/compare_pin_inv_dyn.py
index b52ddc9..8c56fb3 100644
--- a/python/test/compare_pin_inv_dyn.py
+++ b/python/test/compare_pin_inv_dyn.py
@@ -1,20 +1,16 @@
-# -*- coding: utf-8 -*-
"""
Created on Thu Sep 1 16:54:39 2016
@author: stonneau
"""
-from __future__ import print_function
-
from math import atan, pi
import numpy as np
from centroidal_dynamics import Equilibrium, EquilibriumAlgorithm
from curves import bezier
-from numpy import array, asarray, asmatrix
+from numpy import array, asarray, asmatrix, matrix, zeros
from numpy import cross as X
-from numpy import matrix, zeros
from pinocchio_inv_dyn.multi_contact.bezier.bezier_0_step_capturability import (
BezierZeroStepCapturability,
compute_CWC,
@@ -161,7 +157,8 @@ def test_continuous_cpp_vs_continuous_py(N_CONTACTS=2, solver="qpoases", verb=0)
mass, [X_LB, Y_LB, Z_LB], [X_UB, Y_UB, Z_UB], H, h
)
- dc0 = np.random.uniform(-1, 1, size=3)
+ rng = np.random.default_rng()
+ dc0 = rng.uniform(-1, 1, size=3)
Z_MIN = np.max(p[:, 2]) - 0.1
Ineq_kin = zeros([3, 3])
--
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