diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 81254e5238765a604bd9ef1518939962604fb01f..c72bbe898e21b3aa41d0aa0c9e99e01ef1681afd 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -426,6 +426,7 @@ class AbstractHumanoidRobot (object):
             # Recompute trace.triger at each iteration to enable tracing.
             self.device.after.addSignal('{0}.triger'.format(self.tracer.name))
 
+    def traceDefaultSignals (self):
         # Geometry / operational points
         for s in self.OperationalPoints + self.tracedSignals['dynamic']:
             self.addTrace(self.dynamic.name, s)