reference config : Joints HAA are at 0 (adjust height of root)

src/hpp/corbaserver/rbprm/anymal/robot.py

@@ -46,11 +46,11 @@ class Robot (Parent):
     rhand = 'RH_ADAPTER_TO_FOOT'
 
 
-    referenceConfig =[0.,0.,0.457, 0.,0.,0.,1., # FF
-        0.04, 0.611, -1.0452,
-        0.04, -0.853, 1.0847,
-        -0.04, 0.74, -1.08,
-        -0.04, -0.74, 1.08,
+    referenceConfig =[0.,0.,0.462, 0.,0.,0.,1., # FF
+        0.0, 0.611, -1.0452,
+        0.0, -0.853, 1.0847,
+        -0.0, 0.74, -1.08,
+        -0.0, -0.74, 1.08,
         ]
     
     postureWeights=[0,0,0,0,0,0, #FF