[Python] switch to numpy arrays

Gepetto · Nov 27, 2019 · 2c8caa1 · 2c8caa1
1 parent 556fee1
commit 2c8caa1
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
@@ -2,9 +2,12 @@
 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())