diff --git a/crocoddyl/robots.py b/crocoddyl/robots.py index 590d515f9605512e2bc9eb8aed266b2f3ba8b388..34244b0944804fa9d8d24ccb094d3f70eead28f6 100644 --- a/crocoddyl/robots.py +++ b/crocoddyl/robots.py @@ -119,4 +119,5 @@ def loadHyQ(modelPath='examples/hyq_description'): robot = RobotWrapper.BuildFromURDF(FILENAME+modelPath+URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) # TODO define default position inside srdf - return robot + robot.q0.flat[7:] = [0., 0.75, -1.5, 0., -0.75, 1.5, 0., 0.75, -1.5, 0., -0.75, 1.5] + return robot \ No newline at end of file