test/python: fix call to deprecated functions

parent 775f3867
Pipeline #6952 failed with stage
in 114 minutes and 9 seconds
......@@ -2,6 +2,7 @@ from __future__ import print_function
import numpy as np
import pinocchio
pinocchio.switchToNumpyMatrix()
model = pinocchio.buildSampleModelManipulator()
data = model.createData()
......@@ -26,7 +27,7 @@ while True:
if i >= IT_MAX:
print("\nWarning: the iterative algorithm has not reached convergence to the desired precision")
break
J = pinocchio.jointJacobian(model,data,q,JOINT_ID)[:3,:]
J = pinocchio.computeJointJacobian(model,data,q,JOINT_ID)[:3,:]
v = - np.linalg.pinv(J)*err
q = pinocchio.integrate(model,q,v*DT)
if not i % 10: print('error = %s' % err.T)
......
......@@ -29,7 +29,7 @@ class TestDynamicsBindings(TestCase):
self.tolerance = 1e-9
# we compute J on a different self.data
self.J = pin.jointJacobian(self.model,self.model.createData(),self.q,self.model.getJointId('lleg6_joint'))
self.J = pin.computeJointJacobian(self.model,self.model.createData(),self.q,self.model.getJointId('lleg6_joint'))
self.gamma = zero(6)
def test_forwardDynamics_default(self):
......
......@@ -4,6 +4,7 @@ import math
import numpy as np
import pinocchio as pin
pin.switchToNumpyMatrix()
from pinocchio.utils import rand, zero, eye
from pinocchio.explog import exp, log
......
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