From 2c8caa1222a05255c1c74a28b699f438001d0981 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 26 Nov 2019 14:24:03 +0100
Subject: [PATCH] [Python] switch to numpy arrays
---
python/example_robot_data/robots_loader.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 00cdd8a..8d36a81 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -2,9 +2,12 @@ import sys
from os.path import dirname, exists, join
import numpy as np
+
import pinocchio
from pinocchio.robot_wrapper import RobotWrapper
+pinocchio.switchToNumpyArray()
+
def getModelPath(subpath, printmsg=False):
paths = [
@@ -145,7 +148,7 @@ def loadTalosLegs():
robot.visual_data = pinocchio.GeometryData(g2)
# Load SRDF file
- robot.q0 = np.matrix(np.resize(robot.q0, robot.model.nq)).T
+ robot.q0 = np.array(np.resize(robot.q0, robot.model.nq)).T
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
assert ((m2.armature[:6] == 0.).all())
--
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