From 4e8e366953e5724518f2c6e0b1a14453e41c202c Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <proyan@users.noreply.github.com>
Date: Fri, 15 Feb 2019 16:40:51 +0100
Subject: [PATCH] [robot.q0] use q0 instead of neutralConfiguration for default
 state

---
 locomotion/talos_warm_start.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/locomotion/talos_warm_start.py b/locomotion/talos_warm_start.py
index b9b35228..5a32ed41 100644
--- a/locomotion/talos_warm_start.py
+++ b/locomotion/talos_warm_start.py
@@ -12,7 +12,7 @@ np.set_printoptions(linewidth=400, suppress=True)
 robot = conf.robot
 rmodel = robot.model
 rdata = robot.data
-rmodel.defaultState = np.concatenate([m2a(rmodel.neutralConfiguration),np.zeros(rmodel.nv)])
+rmodel.defaultState = np.concatenate([m2a(robot.q0),np.zeros(rmodel.nv)])
 
 #----------------Load Contact Phases-----------------------
 cs = ContactSequenceHumanoid(0)
-- 
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