Closed DomenicoDona closed 2 weeks ago
Hello @DomenicoDona,
To call cpin.aba you have to provide him a casadi model and data. You can check in this example how to create it from a double model : https://github.com/stack-of-tasks/pinocchio/blob/master/examples/cartpole-casadi.py#L64-L65
Bug description
I am trying to use pinocchio.casadi for a 2 DOF planar manipulator.
When calling cpin.aba with the provided inputs, an ArgumentError is raised due to a mismatch in the expected argument types.
Code to reproduce
Output
System
I have tried both on an Ubuntu 22.04 machine and in Google Colab, and the same error arises.