diff --git a/locomotion/talos_warm_start.py b/locomotion/talos_warm_start.py
index b9b35228a28f86293cc25d3519b76b4862ea3b2f..5a32ed416020ab0409d2d690a27efc2cd527bf6f 100644
--- a/locomotion/talos_warm_start.py
+++ b/locomotion/talos_warm_start.py
@@ -12,7 +12,7 @@ np.set_printoptions(linewidth=400, suppress=True)
 robot = conf.robot
 rmodel = robot.model
 rdata = robot.data
-rmodel.defaultState = np.concatenate([m2a(rmodel.neutralConfiguration),np.zeros(rmodel.nv)])
+rmodel.defaultState = np.concatenate([m2a(robot.q0),np.zeros(rmodel.nv)])
 
 #----------------Load Contact Phases-----------------------
 cs = ContactSequenceHumanoid(0)