diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 00eec67211bf2821d6c8179353f3865c76819ffe..77ae8437f9a6e9a6b266ac3d9f14257da168a819 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -61,7 +61,7 @@ class Hrp2Jrl (Hrp2):
     """
     halfSitting = (
         # Free flyer
-        0., 0., 0., 0., 0. , 0.,
+        0., 0., 0.648702, 0., 0. , 0.,
 
         # Legs
         0., 0., -0.453786, 0.872665, -0.418879, 0.,
@@ -87,7 +87,7 @@ class Hrp2Laas (Hrp2):
     """
     halfSitting = (
         # Free flyer
-        0., 0., 0., 0., 0. , 0.,
+        0., 0., 0.648702, 0., 0. , 0.,
 
         # Legs
         0., 0., -0.453786, 0.872665, -0.418879, 0.,