diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index d1fd733abdc0c79232bc95e1efb3d6e35235aed2..a92fa1fd3e4b1dc54305dc1411098a917ea0675a 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/python/quadruped_reactive_walking/main_solo12_control.py
@@ -171,6 +171,7 @@ def control_loop():
         t_start_whole = time.time()
 
         target.update(cnt)
+        target.shift_gait()
         if controller.compute(device, qc):
             break
         print("Total loop time: ", controller.t_loop, "\n")