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. -- GitLab