diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 298e41ba19dda9a2a7d43b68080117100b6f5df9..630fa9c0c62a9b7e4dda20bc05671c2060827cce 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -3,6 +3,7 @@ import warnings
 from os.path import dirname, exists, join
 
 import numpy as np
+
 import pinocchio as pin
 from pinocchio.robot_wrapper import RobotWrapper
 
@@ -92,7 +93,7 @@ def loadTalos(legs=False, arm=False):
     URDF_FILENAME = "talos_left_arm.urdf" if arm else "talos_reduced.urdf"
     SRDF_FILENAME = "talos.srdf"
 
-    robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
+    robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=not arm)
 
     assert (robot.model.armature[:6] == 0.).all()