Repository: maxspahn/forwardKinematics (language: python)

Issue:
Updates python version and improves code style.



Discussion / hints:

Fix patch:
diff --git a/.github/workflows/publish_package.yml b/.github/workflows/publish_package.yml
index 277ba40..eb6ca6d 100644
--- a/.github/workflows/publish_package.yml
+++ b/.github/workflows/publish_package.yml
@@ -10,11 +10,11 @@ on:
 
 jobs:
   publish:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Build and publish to pypi
         uses: JRubics/poetry-publish@v1.13
         with:
-          python_version: "3.7.1"
+          python_version: "3.8"
           pypi_token: ${{ secrets.PYPI_TOKEN }}
diff --git a/.github/workflows/unitTest.yml b/.github/workflows/unitTest.yml
index a724258..2401364 100644
--- a/.github/workflows/unitTest.yml
+++ b/.github/workflows/unitTest.yml
@@ -11,7 +11,7 @@ on:
 
 jobs:
   basic:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
 
     steps:
       #----------------------------------------------
@@ -23,7 +23,7 @@ jobs:
         id: setup-python
         uses: actions/setup-python@v2
         with:
-          python-version: 3.7
+          python-version: 3.8
       #----------------------------------------------
       #  -----  install & configure poetry  -----
       #----------------------------------------------
@@ -39,7 +39,7 @@ jobs:
       #----------------------------------------------
       - name: Load cached venv
         id: cached-poetry-dependencies
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: .venv
           key: venv-${{ runner.os }}-${{ steps.setup-python.outputs.python-version }}-${{ hashFiles('**/poetry.lock') }}
diff --git a/forwardkinematics/fksCommon/fk.py b/forwardkinematics/fksCommon/fk.py
index 7a6e49b..5d04488 100644
--- a/forwardkinematics/fksCommon/fk.py
+++ b/forwardkinematics/fksCommon/fk.py
@@ -9,22 +9,23 @@ class ForwardKinematics(ABC):
 
     def __init__(self):
         ABC.__init__(self)
+        self._n = None
 
-    def fk(self, q, i, positionOnly=False):
+    def fk(self, q, link, positionOnly=False):
         if isinstance(q, ca.SX):
-            return self.casadi(q, i, positionOnly=positionOnly)
+            return self.casadi(q, link, positionOnly=positionOnly)
         elif isinstance(q, np.ndarray):
-            return self.numpy(q, i, positionOnly=positionOnly)
+            return self.numpy(q, link, positionOnly=positionOnly)
 
     def n(self):
         return self._n
 
     @abstractmethod
-    def casadi(self, q: ca.SX, i, positionOnly=False):
+    def casadi(self, q: ca.SX, link, positionOnly=False):
         pass
 
     @abstractmethod
-    def numpy(self, q: np.ndarray, i, positionOnly=False):
+    def numpy(self, q: np.ndarray, link, positionOnly=False):
         pass
 
 
diff --git a/forwardkinematics/planarFks/planarArmFk.py b/forwardkinematics/planarFks/planarArmFk.py
index cff425e..8648f74 100644
--- a/forwardkinematics/planarFks/planarArmFk.py
+++ b/forwardkinematics/planarFks/planarArmFk.py
@@ -8,9 +8,9 @@ def __init__(self, n):
         super().__init__()
         self._n = n
 
-    def casadi(self, q, i, positionOnly=False, endlink=0.0):
+    def casadi(self, q, link, positionOnly=False, endlink=0.0):
         fk = ca.vertcat(np.zeros(2), q[0])
-        for i in range(1, i + 1):
+        for i in range(1, link + 1):
             fk[0] += ca.cos(fk[2]) * 1.0
             fk[1] += ca.sin(fk[2]) * 1.0
             if i < q.size(1):
@@ -22,9 +22,9 @@ def casadi(self, q, i, positionOnly=False, endlink=0.0):
         else:
             return fk
 
-    def numpy(self, q, i, positionOnly=False, endlink=0.0):
+    def numpy(self, q, link, positionOnly=False, endlink=0.0):
         fk = np.array([0.0, 0.0, q[0]])
-        for i in range(1, i + 1):
+        for i in range(1, link + 1):
             fk[0] += np.cos(fk[2]) * 1.0
             fk[1] += np.sin(fk[2]) * 1.0
             if i < len(q):
diff --git a/forwardkinematics/planarFks/planar_fk.py b/forwardkinematics/planarFks/planar_fk.py
index e37c3c2..cda0873 100644
--- a/forwardkinematics/planarFks/planar_fk.py
+++ b/forwardkinematics/planarFks/planar_fk.py
@@ -1,6 +1,3 @@
-from abc import abstractmethod, ABC
-import numpy as np
-import casadi as ca
 import re
 
 from forwardkinematics.fksCommon.fk import ForwardKinematics
@@ -20,6 +17,6 @@ def get_link_index(self, link: str):
         regex_match = re.match(r'\D*(\d*)', link)
         try:
             return int(regex_match.group(1))
-        except Exception as e:
+        except Exception as _:
             raise NoLinkIndexFoundInLinkNameError(f"Link name {link} could not be resolved")
 
diff --git a/forwardkinematics/urdfFks/casadiConversion/urdfparser.py b/forwardkinematics/urdfFks/casadiConversion/urdfparser.py
index 91eba94..060e784 100755
--- a/forwardkinematics/urdfFks/casadiConversion/urdfparser.py
+++ b/forwardkinematics/urdfFks/casadiConversion/urdfparser.py
@@ -3,8 +3,7 @@
 Changes are in get_forward_kinematics as it allows to pass the variable as an argument.
 """
 import casadi as ca
-import numpy as np
-from urdf_parser_py.urdf import URDF, Pose
+from urdf_parser_py.urdf import URDF
 import forwardkinematics.urdfFks.casadiConversion.geometry.transformation_matrix as T
 
 
@@ -58,8 +57,6 @@ def extract_degrees_of_freedom(self) -> None:
             if joint_name in self._actuated_joints:
                 self._degrees_of_freedom += 1
 
-
-
     def actuated_joints(self) -> list:
         return self._actuated_joints
 
diff --git a/poetry.lock b/poetry.lock
index f04d369..6737906 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,16 +1,21 @@
+# This file is automatically @generated by Poetry and should not be changed by hand.
+
 [[package]]
 name = "astroid"
-version = "2.11.7"
+version = "2.13.3"
 description = "An abstract syntax tree for Python with inference support."
 category = "dev"
 optional = false
-python-versions = ">=3.6.2"
+python-versions = ">=3.7.2"
+files = [
+    {file = "astroid-2.13.3-py3-none-any.whl", hash = "sha256:14c1603c41cc61aae731cad1884a073c4645e26f126d13ac8346113c95577f3b"},
+    {file = "astroid-2.13.3.tar.gz", hash = "sha256:6afc22718a48a689ca24a97981ad377ba7fb78c133f40335dfd16772f29bcfb1"},
+]
 
 [package.dependencies]
 lazy-object-proxy = ">=1.4.0"
-typed-ast = {version = ">=1.4.0,<2.0", markers = "implementation_name == \"cpython\" and python_version < \"3.8\""}
-typing-extensions = {version = ">=3.10", markers = "python_version < \"3.10\""}
-wrapt = ">=1.11,<2"
+typing-extensions = {version = ">=4.0.0", markers = "python_version < \"3.11\""}
+wrapt = {version = ">=1.11,<2", markers = "python_version < \"3.11\""}
 
 [[package]]
 name = "atomicwrites"
@@ -19,37 +24,57 @@ description = "Atomic file writes."
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "atomicwrites-1.4.1.tar.gz", hash = "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11"},
+]
 
 [[package]]
 name = "attrs"
-version = "21.4.0"
+version = "22.2.0"
 description = "Classes Without Boilerplate"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.6"
+files = [
+    {file = "attrs-22.2.0-py3-none-any.whl", hash = "sha256:29e95c7f6778868dbd49170f98f8818f78f3dc5e0e37c0b1f474e3561b240836"},
+    {file = "attrs-22.2.0.tar.gz", hash = "sha256:c9227bfc2f01993c03f68db37d1d15c9690188323c067c641f1a35ca58185f99"},
+]
 
 [package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
-docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
-tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+cov = ["attrs[tests]", "coverage-enable-subprocess", "coverage[toml] (>=5.3)"]
+dev = ["attrs[docs,tests]"]
+docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier", "zope.interface"]
+tests = ["attrs[tests-no-zope]", "zope.interface"]
+tests-no-zope = ["cloudpickle", "cloudpickle", "hypothesis", "hypothesis", "mypy (>=0.971,<0.990)", "mypy (>=0.971,<0.990)", "pympler", "pympler", "pytest (>=4.3.0)", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-mypy-plugins", "pytest-xdist[psutil]", "pytest-xdist[psutil]"]
 
 [[package]]
 name = "black"
-version = "22.6.0"
+version = "22.12.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
-python-versions = ">=3.6.2"
+python-versions = ">=3.7"
+files = [
+    {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
+    {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
+    {file = "black-22.12.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d30b212bffeb1e252b31dd269dfae69dd17e06d92b87ad26e23890f3efea366f"},
+    {file = "black-22.12.0-cp311-cp311-win_amd64.whl", hash = "sha256:7412e75863aa5c5411886804678b7d083c7c28421210180d67dfd8cf1221e1f4"},
+    {file = "black-22.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c116eed0efb9ff870ded8b62fe9f28dd61ef6e9ddd28d83d7d264a38417dcee2"},
+    {file = "black-22.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:1f58cbe16dfe8c12b7434e50ff889fa479072096d79f0a7f25e4ab8e94cd8350"},
+    {file = "black-22.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77d86c9f3db9b1bf6761244bc0b3572a546f5fe37917a044e02f3166d5aafa7d"},
+    {file = "black-22.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:82d9fe8fee3401e02e79767016b4907820a7dc28d70d137eb397b92ef3cc5bfc"},
+    {file = "black-22.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:101c69b23df9b44247bd88e1d7e90154336ac4992502d4197bdac35dd7ee3320"},
+    {file = "black-22.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:559c7a1ba9a006226f09e4916060982fd27334ae1998e7a38b3f33a37f7a2148"},
+    {file = "black-22.12.0-py3-none-any.whl", hash = "sha256:436cc9167dd28040ad90d3b404aec22cedf24a6e4d7de221bec2730ec0c97bcf"},
+    {file = "black-22.12.0.tar.gz", hash = "sha256:229351e5a18ca30f447bf724d007f890f97e13af070bb6ad4c0a441cd7596a2f"},
+]
 
 [package.dependencies]
 click = ">=8.0.0"
-dataclasses = {version = ">=0.6", markers = "python_version < \"3.7\""}
 mypy-extensions = ">=0.4.3"
 pathspec = ">=0.9.0"
 platformdirs = ">=2"
 tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
-typed-ast = {version = ">=1.4.2", markers = "python_version < \"3.8\" and implementation_name == \"cpython\""}
 typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
@@ -65,134 +90,343 @@ description = "CasADi -- framework for algorithmic differentiation and numeric o
 category = "main"
 optional = false
 python-versions = "*"
+files = [
+    {file = "casadi-3.5.5-cp27-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:d4e49cb46404cef61f83b30bb20ec9597c50ae7f55cfd6b89c17facc74675437"},
+    {file = "casadi-3.5.5-cp27-none-manylinux1_i686.whl", hash = "sha256:f08a99e98b0a15083f06b1e221f064a29b3ed9e20617dc55aa8e823f2f732ace"},
+    {file = "casadi-3.5.5-cp27-none-manylinux1_x86_64.whl", hash = "sha256:09e103bb597d46aa338fc57bc49270068a1f07be35f9494c9f796dea4b801aeb"},
+    {file = "casadi-3.5.5-cp27-none-win32.whl", hash = "sha256:a4ce51e988570160af9ccfbbb1b9679546cbb1865d3a74ef0276f37fd94d91d9"},
+    {file = "casadi-3.5.5-cp27-none-win_amd64.whl", hash = "sha256:54d89442058271007ae8573dfa33360bea10e26603545481090b45e8b90c9d10"},
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+    {file = "casadi-3.5.5-cp34-none-win32.whl", hash = "sha256:7a624d40c7b5ded7916f6cc65998af4585b4557c9ea65dc1e3a6273ebb2313ec"},
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+    {file = "casadi-3.5.5-cp39-none-manylinux1_x86_64.whl", hash = "sha256:bd94048388b602fc30fdac2fecb986c034110ed8d2d17af7fd13b0de45c58bd7"},
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+]
 
 [[package]]
 name = "click"
-version = "8.0.4"
+version = "8.1.3"
 description = "Composable command line interface toolkit"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+files = [
+    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
+    {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
+]
 
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
-importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
 
 [[package]]
 name = "colorama"
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+    {file = "lxml-4.9.2.tar.gz", hash = "sha256:2455cfaeb7ac70338b3257f41e21f0724f4b5b0c0e7702da67ee6c3640835b67"},
+]
 
 [package.extras]
 cssselect = ["cssselect (>=0.7)"]
 html5 = ["html5lib"]
-htmlsoup = ["beautifulsoup4"]
+htmlsoup = ["BeautifulSoup4"]
 source = ["Cython (>=0.29.7)"]
 
 [[package]]
@@ -202,6 +436,10 @@ description = "McCabe checker, plugin for flake8"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "mccabe-0.7.0-py2.py3-none-any.whl", hash = "sha256:6c2d30ab6be0e4a46919781807b4f0d834ebdd6c6e3dca0bda5a15f863427b6e"},
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+]
 
 [[package]]
 name = "mypy-extensions"
@@ -210,25 +448,60 @@ description = "Experimental type system extensions for programs checked with the
 category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
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+]
 
 [[package]]
 name = "numpy"
-version = "1.19.5"
-description = "NumPy is the fundamental package for array computing with Python."
+version = "1.24.1"
+description = "Fundamental package for array computing in Python"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
+files = [
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+    {file = "numpy-1.24.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:cfa1161c6ac8f92dea03d625c2d0c05e084668f4a06568b77a25a89111621566"},
+    {file = "numpy-1.24.1.tar.gz", hash = "sha256:2386da9a471cc00a1f47845e27d916d5ec5346ae9696e01a8a34760858fe9dd2"},
+]
 
 [[package]]
 name = "packaging"
-version = "21.3"
+version = "23.0"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
+python-versions = ">=3.7"
+files = [
+    {file = "packaging-23.0-py3-none-any.whl", hash = "sha256:714ac14496c3e68c99c29b00845f7a2b85f3bb6f1078fd9f72fd20f0570002b2"},
+    {file = "packaging-23.0.tar.gz", hash = "sha256:b6ad297f8907de0fa2fe1ccbd26fdaf387f5f47c7275fedf8cce89f99446cf97"},
+]
 
 [[package]]
 name = "parso"
@@ -237,6 +510,10 @@ description = "A Python Parser"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "parso-0.8.3-py2.py3-none-any.whl", hash = "sha256:c001d4636cd3aecdaf33cbb40aebb59b094be2a74c556778ef5576c175e19e75"},
+    {file = "parso-0.8.3.tar.gz", hash = "sha256:8c07be290bb59f03588915921e29e8a50002acaf2cdc5fa0e0114f91709fafa0"},
+]
 
 [package.extras]
 qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
@@ -244,23 +521,31 @@ testing = ["docopt", "pytest (<6.0.0)"]
 
 [[package]]
 name = "pathspec"
-version = "0.9.0"
+version = "0.11.0"
 description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+python-versions = ">=3.7"
+files = [
+    {file = "pathspec-0.11.0-py3-none-any.whl", hash = "sha256:3a66eb970cbac598f9e5ccb5b2cf58930cd8e3ed86d393d541eaf2d8b1705229"},
+    {file = "pathspec-0.11.0.tar.gz", hash = "sha256:64d338d4e0914e91c1792321e6907b5a593f1ab1851de7fc269557a21b30ebbc"},
+]
 
 [[package]]
 name = "platformdirs"
-version = "2.4.0"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "2.6.2"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+files = [
+    {file = "platformdirs-2.6.2-py3-none-any.whl", hash = "sha256:83c8f6d04389165de7c9b6f0c682439697887bca0aa2f1c87ef1826be3584490"},
+    {file = "platformdirs-2.6.2.tar.gz", hash = "sha256:e1fea1fe471b9ff8332e229df3cb7de4f53eeea4998d3b6bfff542115e998bd2"},
+]
 
 [package.extras]
-docs = ["Sphinx (>=4)", "furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx-autodoc-typehints (>=1.12)"]
-test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+docs = ["furo (>=2022.12.7)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.5)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.2.2)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
 
 [[package]]
 name = "pluggy"
@@ -269,9 +554,10 @@ description = "plugin and hook calling mechanisms for python"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
-
-[package.dependencies]
-importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
+files = [
+    {file = "pluggy-1.0.0-py2.py3-none-any.whl", hash = "sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3"},
+    {file = "pluggy-1.0.0.tar.gz", hash = "sha256:4224373bacce55f955a878bf9cfa763c1e360858e330072059e10bad68531159"},
+]
 
 [package.extras]
 dev = ["pre-commit", "tox"]
@@ -284,38 +570,37 @@ description = "library with cross-python path, ini-parsing, io, code, log facili
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
+    {file = "py-1.11.0-py2.py3-none-any.whl", hash = "sha256:607c53218732647dff4acdfcd50cb62615cedf612e72d1724fb1a0cc6405b378"},
+    {file = "py-1.11.0.tar.gz", hash = "sha256:51c75c4126074b472f746a24399ad32f6053d1b34b68d2fa41e558e6f4a98719"},
+]
 
 [[package]]
 name = "pylint"
-version = "2.13.9"
+version = "2.15.10"
 description = "python code static checker"
 category = "dev"
 optional = false
-python-versions = ">=3.6.2"
+python-versions = ">=3.7.2"
+files = [
+    {file = "pylint-2.15.10-py3-none-any.whl", hash = "sha256:9df0d07e8948a1c3ffa3b6e2d7e6e63d9fb457c5da5b961ed63106594780cc7e"},
+    {file = "pylint-2.15.10.tar.gz", hash = "sha256:b3dc5ef7d33858f297ac0d06cc73862f01e4f2e74025ec3eff347ce0bc60baf5"},
+]
 
 [package.dependencies]
-astroid = ">=2.11.5,<=2.12.0-dev0"
-colorama = {version = "*", markers = "sys_platform == \"win32\""}
-dill = ">=0.2"
+astroid = ">=2.12.13,<=2.14.0-dev0"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+dill = {version = ">=0.2", markers = "python_version < \"3.11\""}
 isort = ">=4.2.5,<6"
 mccabe = ">=0.6,<0.8"
 platformdirs = ">=2.2.0"
 tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
+tomlkit = ">=0.10.1"
 typing-extensions = {version = ">=3.10.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
-testutil = ["gitpython (>3)"]
-
-[[package]]
-name = "pyparsing"
-version = "3.0.7"
-description = "Python parsing module"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
+spelling = ["pyenchant (>=3.2,<4.0)"]
+testutils = ["gitpython (>3)"]
 
 [[package]]
 name = "pytest"
@@ -324,12 +609,15 @@ description = "pytest: simple powerful testing with Python"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "pytest-6.2.5-py3-none-any.whl", hash = "sha256:7310f8d27bc79ced999e760ca304d69f6ba6c6649c0b60fb0e04a4a77cacc134"},
+    {file = "pytest-6.2.5.tar.gz", hash = "sha256:131b36680866a76e6781d13f101efb86cf674ebb9762eb70d3082b6f29889e89"},
+]
 
 [package.dependencies]
 atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
 attrs = ">=19.2.0"
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
-importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
 iniconfig = "*"
 packaging = "*"
 pluggy = ">=0.12,<2.0"
@@ -341,18 +629,22 @@ testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "requests", "xm
 
 [[package]]
 name = "pytest-cov"
-version = "3.0.0"
+version = "4.0.0"
 description = "Pytest plugin for measuring coverage."
 category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "pytest-cov-4.0.0.tar.gz", hash = "sha256:996b79efde6433cdbd0088872dbc5fb3ed7fe1578b68cdbba634f14bb8dd0470"},
+    {file = "pytest_cov-4.0.0-py3-none-any.whl", hash = "sha256:2feb1b751d66a8bd934e5edfa2e961d11309dc37b73b0eabe73b5945fee20f6b"},
+]
 
 [package.dependencies]
 coverage = {version = ">=5.2.1", extras = ["toml"]}
 pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests", "six", "pytest-xdist", "virtualenv"]
+testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
 
 [[package]]
 name = "pytest-cover"
@@ -361,6 +653,10 @@ description = "Pytest plugin for measuring coverage. Forked from `pytest-cov`."
 category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "pytest-cover-3.0.0.tar.gz", hash = "sha256:5bdb6c1cc3dd75583bb7bc2c57f5e1034a1bfcb79d27c71aceb0b16af981dbf4"},
+    {file = "pytest_cover-3.0.0-py2.py3-none-any.whl", hash = "sha256:578249955eb3b5f3991209df6e532bb770b647743b7392d3d97698dc02f39ebb"},
+]
 
 [package.dependencies]
 pytest-cov = ">=2.0"
@@ -372,6 +668,10 @@ description = "Pytest plugin for measuring coverage. Forked from `pytest-cov`."
 category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "pytest-coverage-0.0.tar.gz", hash = "sha256:db6af2cbd7e458c7c9fd2b4207cee75258243c8a81cad31a7ee8cfad5be93c05"},
+    {file = "pytest_coverage-0.0-py2.py3-none-any.whl", hash = "sha256:dedd084c5e74d8e669355325916dc011539b190355021b037242514dee546368"},
+]
 
 [package.dependencies]
 pytest-cover = "*"
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 category = "main"
 optional = false
 python-versions = ">=3.6"
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+]
 
 [[package]]
 name = "toml"
@@ -391,30 +733,46 @@ description = "Python Library for Tom's Obvious, Minimal Language"
 category = "dev"
 optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
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+]
 
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 name = "tomli"
-version = "1.2.3"
+version = "2.0.1"
 description = "A lil' TOML parser"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+files = [
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+]
 
 [[package]]
-name = "typed-ast"
-version = "1.5.4"
-description = "a fork of Python 2 and 3 ast modules with type comment support"
+name = "tomlkit"
+version = "0.11.6"
+description = "Style preserving TOML library"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
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+]
 
 [[package]]
 name = "typing-extensions"
-version = "4.1.1"
-description = "Backported and Experimental Type Hints for Python 3.6+"
+version = "4.4.0"
+description = "Backported and Experimental Type Hints for Python 3.7+"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+files = [
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+]
 
 [[package]]
 name = "urdf-parser-py"
@@ -423,6 +781,9 @@ description = "This package contains a python parser for the Unified Robot Descr
 category = "main"
 optional = false
 python-versions = "*"
+files = [
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+]
 
 [package.dependencies]
 lxml = "*"
@@ -435,458 +796,7 @@ description = "Module for decorators, wrappers and monkey patching."
 category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
-
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-description = "Backport of pathlib-compatible object wrapper for zip files"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
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-urdf-parser-py = [
-    {file = "urdf_parser_py-0.0.4.tar.gz", hash = "sha256:e983f637145fded67bcff6a542302069bb975b2edf1b18318c093abba1b794cc"},
-]
-wrapt = [
+files = [
     {file = "wrapt-1.14.1-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:1b376b3f4896e7930f1f772ac4b064ac12598d1c38d04907e696cc4d794b43d3"},
     {file = "wrapt-1.14.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:903500616422a40a98a5a3c4ff4ed9d0066f3b4c951fa286018ecdf0750194ef"},
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@@ -952,7 +862,8 @@ wrapt = [
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 ]
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-    {file = "zipp-3.6.0.tar.gz", hash = "sha256:71c644c5369f4a6e07636f0aa966270449561fcea2e3d6747b8d23efaa9d7832"},
-]
+
+[metadata]
+lock-version = "2.0"
+python-versions = "^3.8,<3.10"
+content-hash = "527b9c6d99055a4d4e164a8dc32547fe83ad45451a22d25e3a2258fe1f85347a"
diff --git a/pyproject.toml b/pyproject.toml
index c964c26..384e11b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "forwardkinematics"
-version = "1.0.8"
+version = "1.1.0"
 description = "\"Light-weight implementation of forward kinematics using casadi.\""
 authors = ["Max Spahn <m.spahn@tudelft.nl>"]
 license = "MIT"
@@ -10,7 +10,7 @@ repository = "https://github.com/maxspahn/forwardKinematics.git"
 
 
 [tool.poetry.dependencies]
-python = "^3.6.2,<3.10"
+python = "^3.8,<3.10"
 casadi = "^3.5.4,!=3.5.5.post1,!=3.5.5.post2"
 numpy = "^1.15.3"
 urdf_parser_py = ">=0.0.3"


Test patch:
diff --git a/tests/test_planarFk.py b/tests/test_planarFk.py
index 1264c60..25e74e5 100644
--- a/tests/test_planarFk.py
+++ b/tests/test_planarFk.py
@@ -1,5 +1,6 @@
 import casadi as ca
 import numpy as np
+import pytest
 from forwardkinematics.planarFks.planarArmFk import PlanarArmFk
 
 
@@ -13,9 +14,9 @@ def test_planarFk():
     assert fkNumpy[1] == np.sin(1.0) * 1.0 + np.sin(1.0) * 1.0
     assert fkNumpy[2] == 1.0
     fkCasadi_fun = ca.Function('test_fun', [q_ca], [fkCasadi])
-    test_eval = fkCasadi_fun(q_np)
-    assert test_eval[0] == np.cos(1.0) * 1.0 + np.cos(1.0) * 1.0
-    assert test_eval[1] == np.sin(1.0) * 1.0 + np.sin(1.0) * 1.0
+    test_eval = np.array(fkCasadi_fun(q_np))[:,0]
+    assert test_eval[0] == pytest.approx(np.cos(1.0) * 1.0 + np.cos(1.0) * 1.0)
+    assert test_eval[1] == pytest.approx(np.sin(1.0) * 1.0 + np.sin(1.0) * 1.0)
     assert test_eval[2] == 1.0
 
 def test_planarFk_by_name():
@@ -28,7 +29,7 @@ def test_planarFk_by_name():
     assert fkNumpy[1] == np.sin(1.0) * 1.0 + np.sin(1.0) * 1.0
     assert fkNumpy[2] == 1.0
     fkCasadi_fun = ca.Function('test_fun', [q_ca], [fkCasadi])
-    test_eval = fkCasadi_fun(q_np)
-    assert test_eval[0] == np.cos(1.0) * 1.0 + np.cos(1.0) * 1.0
-    assert test_eval[1] == np.sin(1.0) * 1.0 + np.sin(1.0) * 1.0
+    test_eval = np.array(fkCasadi_fun(q_np))[:,0]
+    assert test_eval[0] == pytest.approx(np.cos(1.0) * 1.0 + np.cos(1.0) * 1.0)
+    assert test_eval[1] == pytest.approx(np.sin(1.0) * 1.0 + np.sin(1.0) * 1.0)
     assert test_eval[2] == 1.0