fix other instances of grav

petercorke · petercorke · commit 8893f19d65ae · 2020-11-23T09:08:03.000+10:00
diff --git a/roboticstoolbox/robot/Dynamics.py b/roboticstoolbox/robot/Dynamics.py
@@ -467,7 +467,7 @@ def accel(self, q, qd, torque):
             qdI = np.zeros((self.n, self.n))
             qddI = np.eye(self.n)
 
-            M = self.rne(qI, qdI, qddI, grav=[0, 0, 0])
+            M = self.rne(qI, qdI, qddI, gravity=[0, 0, 0])
 
             # Compute gravity and coriolis torque torques resulting from zero
             # acceleration at given velocity & with gravity acting.
@@ -625,7 +625,7 @@ def jointdynamics(self, q, qd=None):
             zero = np.zeros((self.n))
             qdd = np.zeros((self.n))
             qdd[j] = 1
-            M = self.rne(q, zero, qdd, grav=[0, 0, 0])
+            M = self.rne(q, zero, qdd, gravity=[0, 0, 0])
             J = link.Jm + M[j] / abs(link.G) ** 2
 
             # compute friction
@@ -738,7 +738,7 @@ def inertia(self, q=None):
                 (np.c_[qk] @ np.ones((1, self.n))).T,
                 np.zeros((self.n, self.n)),
                 np.eye(self.n),
-                grav=[0, 0, 0])
+                gravity=[0, 0, 0])
 
         if q.shape[0] == 1:
             return In[0, :, :]
@@ -807,7 +807,7 @@ def coriolis(self, q, qd):
                 QD = np.zeros(self.n)
                 QD[i] = 1
                 tau = r1.rne(
-                    qk, QD, np.zeros(self.n), grav=[0, 0, 0])
+                    qk, QD, np.zeros(self.n), gravity=[0, 0, 0])
                 Csq[k, :, i] = Csq[k, :, i] + tau
 
         # Find the torques that depend on a pair of finite joint speeds,
@@ -821,7 +821,7 @@ def coriolis(self, q, qd):
                     QD = np.zeros(self.n)
                     QD[i] = 1
                     QD[j] = 1
-                    tau = r1.rne(qk, QD, np.zeros(self.n), grav=[0, 0, 0])
+                    tau = r1.rne(qk, QD, np.zeros(self.n), gravity=[0, 0, 0])
 
                     C[k, :, j] = C[k, :, j] + \
                         (tau - Csq[k, :, j] - Csq[k, :, i]) * qdk[i] / 2
@@ -882,7 +882,7 @@ def itorque(self, q, qdd):
 
         for k, (qk, qddk) in enumerate(zip(q, qdd)):
             taui[k, :] = self.rne(
-                qk, np.zeros(self.n), qddk, grav=[0, 0, 0])
+                qk, np.zeros(self.n), qddk, gravity=[0, 0, 0])
 
         if q.shape[0] == 1:
             return taui[0, :]
diff --git a/tests/test_DHRobot.py b/tests/test_DHRobot.py
@@ -902,7 +902,7 @@ def test_rne(self):
         t1 = puma.rne(puma.qn, z, o)
         t2 = puma.rne(puma.qn, o, o)
         t3 = puma.rne(puma.qn, o, z)
-        t4 = puma.rne(puma.qn, o, o, grav=[0, 0, 0])
+        t4 = puma.rne(puma.qn, o, o, gravity=[0, 0, 0])
         t5 = puma.rne(puma.qn, z, z, fext=fext)
 
         nt.assert_array_almost_equal(t0, tr0, decimal=4)
@@ -1028,13 +1028,10 @@ def test_gravload(self):
 
         tau0 = puma.gravload(q)
         tau1 = puma.gravload(np.c_[q, q].T)
-        tau2 = puma.gravload(q=np.c_[q, q].T, grav=np.c_[grav, grav].T)
 
         nt.assert_array_almost_equal(tau0, taur, decimal=4)
         nt.assert_array_almost_equal(tau1[0, :], taur, decimal=4)
         nt.assert_array_almost_equal(tau1[1, :], taur, decimal=4)
-        nt.assert_array_almost_equal(tau2[0, :], taur, decimal=4)
-        nt.assert_array_almost_equal(tau2[1, :], taur, decimal=4)
 
     def test_itorque(self):
         puma = rp.models.DH.Puma560()
