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Well I seem to have fixed this by typing sudo apt-get --reinstall install python-numpy into a terminal. I don't know if this is just a band-aid over my messed up python installation but oh well.

Also, that other error I got when launching gazebo

[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

can be fixed by changing the url line in ~/.ignition/fuel/config.yaml to https://api.ignitionrobotics.org

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