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Fix casadi casadi conversion to array after Numpy 2.4 release #147

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Merged
Giulero merged 2 commits into from
Dec 21, 2025
Merged

Fix casadi casadi conversion to array after Numpy 2.4 release #147

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1bbe833
Flatten casadi array after Numpy 1.25.
Giulero Dec 21, 2025
8a98424
Apply suggestion from @Copilot
Giulero Dec 21, 2025
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9 changes: 7 additions & 2 deletions src/adam/model/conversions/idyntree.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,9 @@ def _to_sequence(x) -> list[float]:
# Unwrap wrapper that stores the underlying array in `.array`
val = x.array if isinstance(x, ArrayLike) else x
if isinstance(val, (cs.DM, cs.SX, cs.MX)):
val = [float(v) for v in cs.DM(val).full()]
# Convert to full() representation and flatten to 1D list
dm_full = cs.DM(val).full()
val = [float(v) for row in dm_full for v in row]
return val

for i, v in enumerate(val):
Expand All @@ -38,7 +40,10 @@ def _to_scalar(x) -> float:
# Unwrap wrapper that stores the underlying array in `.array`
val = x.array if isinstance(x, ArrayLike) else x
# Handle CasADi types if available. It should be already a casadi type, but let's be safe
val = cs.DM(val).full() if isinstance(val, (cs.DM, cs.SX, cs.MX)) else val
if isinstance(val, (cs.DM, cs.SX, cs.MX)):
dm_full = cs.DM(val).full()
# Flatten 2D array and extract single scalar
val = dm_full[0][0] if isinstance(dm_full, list) else dm_full.flat[0]
return float(val)


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