diff --git a/examples/bipedal_walking_from_foot_traj.py b/examples/bipedal_walking_from_foot_traj.py
index 912f6a46f44a22189ba1530abcefc04a99d9d428..fcffad36204428d449c8b8bac0c874e844ef6e9b 100644
--- a/examples/bipedal_walking_from_foot_traj.py
+++ b/examples/bipedal_walking_from_foot_traj.py
@@ -21,7 +21,7 @@ class SimpleBipedWalkingProblem:
         self.leftFoot = leftFoot
         # Defining default state
         self.rmodel.defaultState = \
-            np.concatenate([m2a(self.rmodel.neutralConfiguration),
+            np.concatenate([m2a(self.rmodel.referenceConfigurations["half_sitting"].copy()),
                             np.zeros(self.rmodel.nv)])
         # Remove the armature
         self.rmodel.armature[6:] = 1.