Set float64

src/adam/pytorch/torch_like.py

@@ -45,21 +45,24 @@ def T(self) -> "TorchLike":
         Returns:
             TorchLike: transpose of array
         """
-        return TorchLike(self.array.T)
+        if len(self.array.shape) != 1:
+            return TorchLike(self.array.mT)
+        x = self.array
+        return TorchLike(x.permute(*torch.arange(x.ndim - 1, -1, -1)))
 
     def __matmul__(self, other: Union["TorchLike", ntp.ArrayLike]) -> "TorchLike":
         """Overrides @ operator"""
         if type(self) is type(other):
-            return TorchLike(self.array @ other.array)
+            return TorchLike(self.array @ other.array.float())
         else:
-            return TorchLike(self.array @ torch.FloatTensor(other))
+            return TorchLike(self.array @ torch.tensor(other).float())
 
     def __rmatmul__(self, other: Union["TorchLike", ntp.ArrayLike]) -> "TorchLike":
         """Overrides @ operator"""
         if type(self) is type(other):
             return TorchLike(other.array @ self.array)
         else:
-            return TorchLike(torch.FloatTensor(other) @ self.array)
+            return TorchLike(torch.tensor(other).float() @ self.array)
 
     def __mul__(self, other: Union["TorchLike", ntp.ArrayLike]) -> "TorchLike":
         """Overrides * operator"""

tests/test_CasADi_computations.py

@@ -13,6 +13,8 @@
 from adam.casadi import KinDynComputations
 from adam.geometry import utils
 
+np.random.seed(42)
+
 model_path = gym_ignition_models.get_model_file("iCubGazeboV2_5")
 
 joints_name_list = [

tests/test_Jax_computations.py

@@ -9,10 +9,14 @@
 import jax.numpy as jnp
 import numpy as np
 import pytest
+from jax import config
 
 from adam.geometry import utils
 from adam.jax import KinDynComputations
 
+np.random.seed(42)
+config.update("jax_enable_x64", True)
+
 model_path = gym_ignition_models.get_model_file("iCubGazeboV2_5")
 
 joints_name_list = [

tests/test_NumPy_computations.py

@@ -12,6 +12,8 @@
 from adam.geometry import utils
 from adam.numpy import KinDynComputations
 
+np.random.seed(42)
+
 model_path = gym_ignition_models.get_model_file("iCubGazeboV2_5")
 
 joints_name_list = [

tests/test_pytorch_computations.py

@@ -13,6 +13,9 @@
 from adam.geometry import utils
 from adam.pytorch import KinDynComputations
 
+np.random.seed(42)
+torch.set_default_dtype(torch.float64)
+
 model_path = gym_ignition_models.get_model_file("iCubGazeboV2_5")
 
 joints_name_list = [