diff --git a/crocoddyl/robots.py b/crocoddyl/robots.py
index 7b9a9721a2b368c25ace804ea53f0dd5d2a83ba4..d2a4234da8693340dffea860af8927c4141dee6e 100644
--- a/crocoddyl/robots.py
+++ b/crocoddyl/robots.py
@@ -100,6 +100,7 @@ def loadTalosLegs(modelPath='/opt/openrobots/share'):
 
 
     # Load SRDF file
+    robot.q0=np.matrix(np.resize(robot.q0, robot.model.nv)).T
     readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
 
     assert((m2.armature[:6]==0.).all())