diff --git a/icub_description/srdf/icub.srdf b/icub_description/srdf/icub.srdf
index cef8b160d0c2fc50b4a894e0d2e306fefcc0e967..49c80f529422f3542beb081dae08f11608cba7ac 100644
--- a/icub_description/srdf/icub.srdf
+++ b/icub_description/srdf/icub.srdf
@@ -74,16 +74,16 @@
     <group_state name="half_sitting" group="all">
         <joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
         <!-- legs -->
-        <joint name="l_hip_pitch" value="0." />
+        <joint name="l_hip_pitch" value="0.15" />
         <joint name="l_hip_roll" value="0." />
         <joint name="l_hip_yaw" value="0." />
-        <joint name="l_knee" value="0." />
+        <joint name="l_knee" value="-0.15" />
         <joint name="l_ankle_pitch" value="0." />
         <joint name="l_ankle_roll" value="0." />
-        <joint name="r_hip_pitch" value="0." />
+        <joint name="r_hip_pitch" value="0.15" />
         <joint name="r_hip_roll" value="0." />
         <joint name="r_hip_yaw" value="0." />
-        <joint name="r_knee" value="0." />
+        <joint name="r_knee" value="-0.15" />
         <joint name="r_ankle_pitch" value="0." />
         <joint name="r_ankle_roll" value="0." />
         <!-- arms -->