SIGABRT in Custom DifferentialActionModel about crocoddyl HOT 1 CLOSED

    def createData(self):
        data = DifferentialActionDataGravityCompensatedFwdDynamics(self)
        return data

class DifferentialActionDataGravityCompensatedFwdDynamics(crocoddyl.DifferentialActionDataAbstract):
    def __init__(self, model):
        crocoddyl.DifferentialActionDataAbstract.__init__(self, model)
        self.pinocchio = pinocchio.Model.createData(model.state.pinocchio)
        self.multibody = crocoddyl.DataCollectorMultibody(self.pinocchio)
        self.actuation = model.actuation.createData()
        self.costs = model.costs.createData(self.multibody)
        self.costs.shareMemory(self)