unittest/python | examples : fix passing (n, 1) ndarrays for Vectors

- nanobind is less permissive

Author: ManifoldFR

examples/forward-dynamics-derivatives.py

@@ -21,8 +21,8 @@
 model.upperPositionLimit = np.ones(model.nq)
 
 q = pin.randomConfiguration(model)  # joint configuration
-v = np.random.rand(model.nv, 1)  # joint velocity
-tau = np.random.rand(model.nv, 1)  # joint acceleration
+v = np.random.rand(model.nv)  # joint velocity
+tau = np.random.rand(model.nv)  # joint acceleration
 
 # Evaluate the derivatives
 

examples/inverse-dynamics-derivatives.py

@@ -21,8 +21,8 @@
 model.upperPositionLimit = np.ones(model.nq)
 
 q = pin.randomConfiguration(model)  # joint configuration
-v = np.random.rand(model.nv, 1)  # joint velocity
-a = np.random.rand(model.nv, 1)  # joint acceleration
+v = np.random.rand(model.nv)  # joint velocity
+a = np.random.rand(model.nv)  # joint acceleration
 
 # Evaluate the derivatives
 

examples/inverse-dynamics.py

@@ -26,8 +26,8 @@
 
 # Sample a random joint configuration, joint velocities and accelerations
 q = pin.randomConfiguration(model)  # in rad for the UR5
-v = np.random.rand(model.nv, 1)  # in rad/s for the UR5
-a = np.random.rand(model.nv, 1)  # in rad/s² for the UR5
+v = np.random.rand(model.nv)  # in rad/s for the UR5
+a = np.random.rand(model.nv)  # in rad/s² for the UR5
 
 # Computes the inverse dynamics (RNEA) for all the joints of the robot
 tau = pin.rnea(model, data, q, v, a)

unittest/python/test_case.py

@@ -39,7 +39,7 @@ class ContactSolverTestCase(PinocchioTestCase):
     def buildStackOfCubesModel(self, masses):
         model = pin.Model()
         n_cubes = len(masses)
-        box_dims = np.ones((3, 1))
+        box_dims = np.ones(3)
         for i in range(n_cubes):
             box_mass = masses[i]
             box_inertia = pin.Inertia.FromBox(