Initialization of Pose's quaternion is 1,1,1,1

[dlfabio]

System:

• OS version: Ubuntu 22.04.5 LTS
• Python version (if applicable): Python 3.10.12 (I also tested Python 3.11.13, the problem remains)
• SAPIEN version (pip freeze | grep sapien): 2.2.2
• Environment: Desktop

Describe the bug
Quaternions of Poses are inizialized as [1, 1, 1, 1]

To Reproduce
Steps to reproduce the behavior (use pastebin for code):
import sapien.core as sapien
p = sapien.Pose()
print(p.q)

Expected behavior
Initialized to [1,0,0,0]

[fbxiang]

This really should not happen, but if it did happen, my best guess would be that you are using SAPIEN 2 with Numpy 2, which can cause unexpected problems since Numpy 2 did not exist when SAPIEN 2 was released.

Can you try either downgrading Numpy to 1 or upgrading SAPIEN to 3 to see if the problem is resolved?

[dlfabio]

Thank you, downgrading numpy to 1 fixed the problem.