diff --git a/talos_roscontrol_sot_talos/config/sot_talos_params.yaml b/talos_roscontrol_sot_talos/config/sot_talos_params.yaml
index e1f2f0c09bedd0f46128582b780771a8322ebb63..d9894fb0e54e21d6f76e2cdeacb8c14ae907b10e 100644
--- a/talos_roscontrol_sot_talos/config/sot_talos_params.yaml
+++ b/talos_roscontrol_sot_talos/config/sot_talos_params.yaml
@@ -9,4 +9,4 @@ sot_controller:
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities,
   torques: torques, cmd-positions: control, cmd-effort: control }
-  control_mode: EFFORT
+  control_mode: POSITION