diff --git a/crocoddyl/robots.py b/crocoddyl/robots.py
index 590d515f9605512e2bc9eb8aed266b2f3ba8b388..34244b0944804fa9d8d24ccb094d3f70eead28f6 100644
--- a/crocoddyl/robots.py
+++ b/crocoddyl/robots.py
@@ -119,4 +119,5 @@ def loadHyQ(modelPath='examples/hyq_description'):
     robot = RobotWrapper.BuildFromURDF(FILENAME+modelPath+URDF_SUBPATH, [modelPath],
                                        pinocchio.JointModelFreeFlyer())
     # TODO define default position inside srdf
-    return robot
+    robot.q0.flat[7:] = [0., 0.75, -1.5, 0., -0.75, 1.5, 0., 0.75, -1.5, 0., -0.75, 1.5]
+    return robot
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