diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 89080ebfcaeb9857a9617f576acca9f2e8bf036b..1e1103c1a07c8d4860c407567dea13dabf4502e1 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -44,6 +44,14 @@ class Hrp2(AbstractHumanoidRobot):
     """
     This class instanciates a Hrp2 robot
     """
+    forceSensorInLeftAnkle =  ((1.,0.,0.,0.),
+                               (0.,1.,0.,0.),
+                               (0.,0.,1.,-0.105),
+                               (0.,0.,0.,1.))
+    forceSensorInRightAnkle = ((1.,0.,0.,0.),
+                               (0.,1.,0.,0.),
+                               (0.,0.,1.,-0.105),
+                               (0.,0.,0.,1.))
     def smallToFull(self, config):
         res = (config + 10*(0.,))
         return res