fix np version issue

qaz1678249 · May 30, 2023 · c2277ba · c2277ba
1 parent 910c8ce
commit c2277ba
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/scaler_kin/v3/SCALER_v2_Leg_6DOF_gripper.py b/scaler_kin/v3/SCALER_v2_Leg_6DOF_gripper.py
@@ -426,6 +426,7 @@ def leg_gripper_fk(body_angle, theta_angles, L_actuator, theta_actuator, which_l
         # We convert quaterninon orientation to 3x3 rotation matrix
         w,x_rot,y_rot,z_rot = state_gripper_center[3], state_gripper_center[4], state_gripper_center[5], state_gripper_center[6]
         R_BC = util.quaternion_2_rotation_matrix(np.array([w, x_rot, y_rot, z_rot]))
+        R_BC = R_BC.reshape((3,3))
         # Create T matrix that specifies the frame from center of gripper to body
         T_BC = np.array([[R_BC[0,0],R_BC[0,1],R_BC[0,2],x_pos],
                         [R_BC[1,0],R_BC[1,1],R_BC[1,2],y_pos],