Update ikfast for newer sympy #1391
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cielavenir
requested review from
rdiankov,
felixvd,
snozawa,
kanbouchou and
yoshikikanemoto
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I remember MCHN is still ikfastpy user, right? @liuhuanjim013 |
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I should also review #407 |
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Thanks~ |
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This pull request enabled iksolver generation with new version of sympy.
I tested 0.7.1 / 0.7.6.1 / 1.12.1.
This is required to upgrade our obsolete version of sympy dependency.
On 0.7.6.1 and 1.12.1, somehow,
tj0appears in the generated code. I forcibly fixed the issue by adding tangent declaration to the generated code, but I don't know the side effect at all.cc @ntohge @wkentaro @jerasman