diff --git a/locomotion/centroidal_utils.py b/locomotion/centroidal_utils.py
index fd6cded216acbc339b8bbaab82b7230dc32baeed..dee8d16e7637e0a0631508d5bc0e2f8137003cab 100644
--- a/locomotion/centroidal_utils.py
+++ b/locomotion/centroidal_utils.py
@@ -190,7 +190,7 @@ def createMultiphaseShootingProblem(rmodel, rdata, patch_name_map, cs, phi_c, ee
 
       dmodel = DifferentialActionModelFloatingInContact(rmodel, actuationff,
                                                         contact_model, cost_model)
-      imodel = IntegratedActionModelEuler(dmodel)
+      imodel = IntegratedActionModelEuler(dmodel, timeStep=dt)
       problem_models.append(imodel)
 
     #for the last model of the phase, add velocity cost on swing limbs.