From cda814d84d1c49455a0bd02c1e39f5751c3c83da Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Mon, 18 Feb 2019 18:04:00 +0100
Subject: [PATCH] [bugfix] Proper definition of defaultState after Pinocchio
 Model API changes

---
 examples/bipedal_walking_from_foot_traj.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/bipedal_walking_from_foot_traj.py b/examples/bipedal_walking_from_foot_traj.py
index 912f6a46..fcffad36 100644
--- a/examples/bipedal_walking_from_foot_traj.py
+++ b/examples/bipedal_walking_from_foot_traj.py
@@ -21,7 +21,7 @@ class SimpleBipedWalkingProblem:
         self.leftFoot = leftFoot
         # Defining default state
         self.rmodel.defaultState = \
-            np.concatenate([m2a(self.rmodel.neutralConfiguration),
+            np.concatenate([m2a(self.rmodel.referenceConfigurations["half_sitting"].copy()),
                             np.zeros(self.rmodel.nv)])
         # Remove the armature
         self.rmodel.armature[6:] = 1.
-- 
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