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declare eigenpy.switchToNumpyMatrix() for now

Guilhem Saurel requested to merge gsaurel/sot-talos-balance:topic/eigenpy2 into devel

Hi,

In eigenpy v2, the default container is now np.array instead of np.matrix, but this is not working with this package yet, so we have to explicitly declare that we still want to use np.matrix.

ref. https://github.com/stack-of-tasks/eigenpy/issues/87

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