diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index 978bd5780dbaec9a4ba0aad792ab9aecbceeaa75..ea99340e75ac4ba42bf52a699b0fb1adb5e1a90a 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -93,6 +93,11 @@ module hpp
 		void loadFullBodyRobotFromExistingRobot ()
 			raises (Error);
 
+    /// set a boolean in rbprmFullBody
+    /// if true, the acceleration doesn't account for the stability check
+    void setStaticStability(in boolean staticStability)
+      raises (Error);
+
     /// Set Rom constraints for the configuration shooter
     /// a configuration will only be valid if all roms indicated
     /// are colliding with the environment.
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 2bdb61d6833ee5ad1c22c502567d70609428b783..910635f14250b9eabe680d17197b9fe91a967f36 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -262,6 +262,13 @@ class FullBody (object):
     def setEndState(self, configuration, contacts):
 		return self.client.rbprm.rbprm.setEndState(configuration, contacts)
 	
+  ## set a boolean in rbprmFullBody
+  # if true, the acceleration doesn't account for the stability check
+  #
+    # \param staticStability boolean
+    def setStaticStability(self,staticStability):
+        return self.client.rbprm.rbprm.setStaticStability(staticStability)
+
 	## Saves a computed contact sequence in a given filename
 	#
     # \param The file where the configuration must be saved
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 8ca1b6cdb75f93780b2e26d15714d8da615eeaec..150413ee88cbb4f5291cbb2ed2d7b858dc7f30f4 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -569,6 +569,10 @@ namespace hpp {
         return res;
     }
 
+    void RbprmBuilder::setStaticStability(const bool staticStability) throw (hpp::Error){
+      fullBody_->staticStability(staticStability);
+    }
+
 
     void RbprmBuilder::setFilter(const hpp::Names_t& roms) throw (hpp::Error)
     {
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index a12ab7fe4d1eec52659a8db72e15d86195ee3b0a..2ae2ed8672fe87a0269bfa05b30e65e3cbe37698 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -115,6 +115,7 @@ namespace hpp {
 
         virtual void loadFullBodyRobotFromExistingRobot () throw (hpp::Error);
 
+        void setStaticStability(const bool staticStability) throw (hpp::Error);
 
         virtual void setFilter(const hpp::Names_t& roms) throw (hpp::Error);
 				virtual void setAffordanceFilter(const char* romName, const hpp::Names_t& affordances) throw (hpp::Error);