From b546b2b6e6e345e5f43b938a2f115b2ed1553aff Mon Sep 17 00:00:00 2001 From: Nagesh Eranki Date: Sun, 19 Oct 2025 11:53:50 -0400 Subject: [PATCH] Fix numpy deprecations numpy.float is no longer a supported alias in recent versions https://numpy.org/doc/stable/release/1.20.0-notes.html#using-the-aliases-of-builtin-types-like-np-int-is-deprecated --- src/leg.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/leg.py b/src/leg.py index 7434cbc..41a1bcc 100644 --- a/src/leg.py +++ b/src/leg.py @@ -38,17 +38,17 @@ def __init__(self, dt, model, g, recalc, init_q=None, init_dq=None, **kwargs): values_direct = list(zip(*(row for row in data_direct))) # transpose rows to columns values_direct = np.array(values_direct) # convert list of nested lists to array - ixx = values_direct[8].astype(np.float) - ixy = values_direct[9].astype(np.float) - ixz = values_direct[10].astype(np.float) - iyy = values_direct[11].astype(np.float) - iyz = values_direct[12].astype(np.float) - izz = values_direct[13].astype(np.float) - - self.mass = values_direct[7].astype(np.float) + ixx = values_direct[8].astype(np.float64) + ixy = values_direct[9].astype(np.float64) + ixz = values_direct[10].astype(np.float64) + iyy = values_direct[11].astype(np.float64) + iyz = values_direct[12].astype(np.float64) + izz = values_direct[13].astype(np.float64) + + self.mass = values_direct[7].astype(np.float64) self.m_total = sum(self.mass) self.mass = np.delete(self.mass, 0) # remove body value - self.coml = values_direct[1:4].astype(np.float) + self.coml = values_direct[1:4].astype(np.float64) self.coml = np.delete(self.coml, 0, axis=1) # remove body value # mass matrices and gravity