diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index c72bbe898e21b3aa41d0aa0c9e99e01ef1681afd..7e26b990607463c1c16c389f4008b18ec5c75a69 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -381,6 +381,7 @@ class AbstractHumanoidRobot (object):
             for i in w[1:]:
                 memberName += i.capitalize()
             setattr(self, memberName, self.features[op])
+        self.tasks ['com'] = self.comTask
 
         # --- balance task --- #
         self.tasks ['balance'] =\