diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 4bc56bd928922924b68b1b0ea2feae04a780c50a..a239cc6dad99553d9c230030191a3bcd3027b9ce 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -41,6 +41,7 @@ class Hrp2(AbstractHumanoidRobot):
     def __init__(self, name, modelDir, xmlDir, device):
         AbstractHumanoidRobot.__init__ (self, name)
 
+        self.OperationalPoints.append('waist')
         self.device = device
         modelName = 'HRP2JRLmainsmall.wrl'
         specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'