Bug fix: after senity checks in _rod.py tests were falling because  shear,bend,mass moment matrices initialized as zero matrices. Now they are initialzied as identity matrices.
@@ -16,9 +16,9 @@ def test_freejoint():
base_length = 1
base_radius = 0.2
density = 1
- shear_matrix = np.zeros((3, 3))
- mass_second_moment_of_inertia = np.zeros((3, 3))
- bend_matrix = np.zeros((3, 3))
+ shear_matrix = np.identity(3)
+ mass_second_moment_of_inertia = np.identity(3)
+ bend_matrix = np.identity(3)
nu = 0.1
# Origin of the rod
@@ -111,9 +111,9 @@ def test_hingejoint():
base_length = 1
base_radius = 0.2
density = 1
- shear_matrix = np.zeros((3, 3))
- mass_second_moment_of_inertia = np.zeros((3, 3))
- bend_matrix = np.zeros((3, 3))
+ shear_matrix = np.identity(3)
+ mass_second_moment_of_inertia = np.identity(3)
+ bend_matrix = np.identity(3)
nu = 0.1
# Origin of the rod
@@ -225,9 +225,9 @@ def test_fixedjoint():
base_length = 1
base_radius = 0.2
density = 1
- shear_matrix = np.zeros((3, 3))
- mass_second_moment_of_inertia = np.zeros((3, 3))
- bend_matrix = np.zeros((3, 3))
+ shear_matrix = np.identity(3)
+ mass_second_moment_of_inertia = np.identity(3)
+ bend_matrix = np.identity(3)
nu = 0.1
# Origin of the rod
