ValueError: setting an array element with a sequence. The requested array has an inhomogeneous shape after 1 dimensions. The detected shape was (3,) + inhomogeneous part. #3
Description
(venv) user@user-All-Series:~/Documents/test_test$ /home/user/Documents/test_test/venv/bin/python /home/user/Documents/test_test/test_ttt.py
INFO: CPP .so not found! Only python mode is available!
Traceback (most recent call last):
File "/home/user/Documents/test_test/test_ttt.py", line 7, in
robot = ub.Robot.create_epson_t6(color="gray") #Instantiate robot
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/robot.py", line 781, in create_epson_t6
return Robot(name, links, base_3d_obj, htm, htm_base_0, htm_n_eef, q0, eef_frame_visible, joint_limits)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/robot.py", line 256, in init
self.set_ani_frame(self._q0, self._htm)
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/robot.py", line 329, in set_ani_frame
return _set_ani_frame(self, q, htm, enforce_joint_limits)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/_set_ani_frame.py", line 26, in _set_ani_frame
self.add_ani_frame(0, q, htm, enforce_joint_limits)
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/robot.py", line 306, in add_ani_frame
return _add_ani_frame(self, time, q, htm, enforce_joint_limits)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/_add_ani_frame.py", line 44, in _add_ani_frame
self._eef_frame.add_ani_frame(time,self.fkm(q))
^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/robot.py", line 365, in fkm
return _fkm(self, q, axis, htm, mode)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/_fkm.py", line 36, in _fkm
return _fkm_python(self, q, axis, htm)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/robot/_fkm.py", line 61, in _fkm_python
htm_dh[i][:, :] = htm_dh[i][:, :] * Utils.trn([0, 0, q[i]])
^^^^^^^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/uaibot/utils/utils.py", line 113, in trn
v = np.matrix(vector).reshape((3,1))
^^^^^^^^^^^^^^^^^
File "/home/user/Documents/test_test/venv/lib/python3.11/site-packages/numpy/matrixlib/defmatrix.py", line 145, in new
arr = N.array(data, dtype=dtype, copy=copy)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^