examples/python: all the examples are now using np.array

examples/capsule-approximation.py

@@ -8,7 +8,6 @@ import numpy as np
 import scipy.optimize as optimize
 
 import hppfcl
-hppfcl.switchToNumpyArray()
 
 """
 Capsule definition

examples/collisions.py

 from __future__ import print_function
 import pinocchio as pin, hppfcl
-pin.switchToNumpyMatrix()
 
 import os
 from os.path import dirname, join, abspath

examples/display-shapes.py

@@ -8,8 +8,6 @@ except ImportError:
     sys.exit(0)
 from pinocchio.visualize import GepettoVisualizer
 
-pin.switchToNumpyArray()
-
 model = pin.Model()
 
 geom_model = pin.GeometryModel()

examples/forward-dynamics-derivatives.py

 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 
 ##
@@ -16,8 +15,8 @@ data = model.createData()
 
 # Set bounds (by default they are undefinded for a the Simple Humanoid model)
 
-model.lowerPositionLimit = -np.matrix(np.ones((model.nq,1)))
-model.upperPositionLimit = np.matrix(np.ones((model.nq,1)))
+model.lowerPositionLimit = -np.ones((model.nq,1))
+model.upperPositionLimit = np.ones((model.nq,1))
 
 q = pin.randomConfiguration(model) # joint configuration
 v = np.matrix(np.random.rand(model.nv,1)) # joint velocity

examples/geometry-models.py

 import pinocchio
-pinocchio.switchToNumpyMatrix()
 from sys import argv
 from os.path import dirname, join, abspath
 
@@ -44,4 +43,4 @@ for k, oMg in enumerate(collision_data.oMg):
 print("\nVisual object placements:")
 for k, oMg in enumerate(visual_data.oMg):
     print(("{:d} : {: .2f} {: .2f} {: .2f}"
-          .format( k, *oMg.translation.T.flat )))
\ No newline at end of file
+          .format( k, *oMg.translation.T.flat )))

examples/gepetto-viewer.py

@@ -2,7 +2,6 @@
 # usage: launch gepetto-gui and then run this test
 
 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 import sys
 import os

examples/inverse-dynamics-derivatives.py

 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 
 ##
@@ -16,12 +15,12 @@ data = model.createData()
 
 # Set bounds (by default they are undefinded for a the Simple Humanoid model)
 
-model.lowerPositionLimit = -np.matrix(np.ones((model.nq,1)))
-model.upperPositionLimit = np.matrix(np.ones((model.nq,1)))
+model.lowerPositionLimit = -np.ones((model.nq,1))
+model.upperPositionLimit = np.ones((model.nq,1))
 
 q = pin.randomConfiguration(model) # joint configuration
-v = np.matrix(np.random.rand(model.nv,1)) # joint velocity
-a = np.matrix(np.random.rand(model.nv,1)) # joint acceleration
+v = np.random.rand(model.nv,1) # joint velocity
+a = np.random.rand(model.nv,1) # joint acceleration
 
 # Evaluate the derivatives
 

examples/inverse-kinematics.py

@@ -4,13 +4,12 @@ import numpy as np
 from numpy.linalg import norm, solve
 
 import pinocchio
-pinocchio.switchToNumpyMatrix()
 
 model = pinocchio.buildSampleModelManipulator()
 data  = model.createData()
 
 JOINT_ID = 6
-oMdes = pinocchio.SE3(pinocchio.utils.eye(3), np.matrix([1., 0., 1.]).T)
+oMdes = pinocchio.SE3(np.eye(3), np.array([1., 0., 1.]))
 
 q      = pinocchio.neutral(model)
 eps    = 1e-4

examples/kinematics-derivatives.py

 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 
 # Create model and data
@@ -9,12 +8,12 @@ data = model.createData()
 
 # Set bounds (by default they are undefinded)
 
-model.lowerPositionLimit = -np.matrix(np.ones((model.nq,1)))
-model.upperPositionLimit = np.matrix(np.ones((model.nq,1)))
+model.lowerPositionLimit = -np.ones((model.nq,1))
+model.upperPositionLimit = np.ones((model.nq,1))
 
 q = pin.randomConfiguration(model) # joint configuration
-v = np.matrix(np.random.rand(model.nv,1)) # joint velocity
-a = np.matrix(np.random.rand(model.nv,1)) # joint acceleration
+v = np.random.rand(model.nv,1) # joint velocity
+a = np.random.rand(model.nv,1) # joint acceleration
 
 # Evaluate all the terms required by the kinematics derivatives
 

examples/meshcat-viewer-dae.py

@@ -3,7 +3,6 @@
 # pip install --user meshcat
 
 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 import sys
 import os
@@ -49,7 +48,7 @@ except ImportError as err:
 viz.loadViewerModel(color = [0.0, 0.0, 0.0, 1.0])
 
 # Display a robot configuration.
-q0 = np.matrix([
+q0 = np.array([
     0, 0, 0.840252, 0, 0, 0, 1,  # Free flyer
     0, 0, -0.3490658, 0.6981317, -0.3490658, 0,  # left leg
     0, 0, -0.3490658, 0.6981317, -0.3490658, 0,  # right leg

examples/meshcat-viewer.py

@@ -3,7 +3,6 @@
 # pip install --user meshcat
 
 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 import sys
 import os

examples/robot-wrapper-viewer.py

@@ -4,7 +4,6 @@
 #
 
 import pinocchio as pin
-pin.switchToNumpyMatrix()
 from pinocchio.robot_wrapper import RobotWrapper
 from pinocchio.visualize import (GepettoVisualizer, MeshcatVisualizer)
 from sys import argv

examples/sample-model-viewer.py

 import pinocchio as pin
-pin.switchToNumpyMatrix()
 from pinocchio.visualize import MeshcatVisualizer, GepettoVisualizer
 from sys import argv
 from numpy import pi