diff --git a/models/simple_humanoid.srdf b/models/simple_humanoid.srdf
index db09f47ebe..914406bb4f 100644
--- a/models/simple_humanoid.srdf
+++ b/models/simple_humanoid.srdf
@@ -37,7 +37,40 @@
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diff --git a/unittest/srdf.cpp b/unittest/srdf.cpp
index dfd95c44d5..8f111cc3b9 100644
--- a/unittest/srdf.cpp
+++ b/unittest/srdf.cpp
@@ -40,7 +40,7 @@ BOOST_AUTO_TEST_CASE(test_removeCollisionPairs)
BOOST_CHECK(num_init_col_pairs > num_col_pairs);
}
-BOOST_AUTO_TEST_CASE(readNeutralConfig)
+BOOST_AUTO_TEST_CASE(readReferenceConfig)
{
using namespace pinocchio::urdf;
using namespace pinocchio::srdf;
@@ -50,10 +50,16 @@ BOOST_AUTO_TEST_CASE(readNeutralConfig)
Model model;
buildModel(model_filename, model);
- Eigen::VectorXd q = getNeutralConfiguration(model,srdf_filename,false);
-
+ loadReferenceConfigurations(model,srdf_filename,false);
+ Eigen::VectorXd q = model.referenceConfigurations["half_sitting"];
+ Eigen::VectorXd q2 = model.referenceConfigurations["half_sitting2"];
BOOST_CHECK(q.size() == model.nq);
BOOST_CHECK(!q.isZero());
+
+ BOOST_CHECK(q2.size() == model.nq);
+ BOOST_CHECK(!q2.isZero());
+
+
}
BOOST_AUTO_TEST_CASE(readRotorParams)