Fix unit test using Pinocchio
@@ -70,6 +70,10 @@ TEST_F(Constraint, jointTorquePinocchio) {
JointTorque::Model model;
pinocchio::buildModels::manipulator(model);
+#if PINOCCHIO_VERSION_AT_MOST(2,4,1)
+ // Work around bug solved by https://github.com/stack-of-tasks/pinocchio/pull/1155
+ model.effortLimit.setConstant(10);
+#endif
Vector frictions (Vector::Constant(model.nv, 0.001));
JointTorque constraint (model, frictions);
