Bug on the robot_loader under switchToNumpyArray setup
If you tried to load a robot under the default setup, i.e.
import example_robot_data
model = example_robot_data.loadANYmal().model
then the following errors appears:
/usr/local/lib/python2.7/dist-packages/example_robot_data/robots_loader.py in addFreeFlyerJointLimits(robot)
45 ub = rmodel.upperPositionLimit
46 ub[:7] = 1
---> 47 rmodel.upperPositionLimit = ub
48 lb = rmodel.lowerPositionLimit
49 lb[:7] = -1
ArgumentError: Python argument types in
None.None(Model, numpy.ndarray)
did not match C++ signature:
None(pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl> {lvalue}, Eigen::Matrix<double, -1, 1, 0, -1, 1>)
Note that if you switch to matrix everything is OK, i.e.
import example_robot_data
import eigenpy
eigenpy.switchToNumpyMatrix()
model = example_robot_data.loadANYmal().model