diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp b/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
index 2a8969ec24e93b95f84390045ce3508838aedc7b..d8664a4be626830d402cfd02afc21437ed3bb908 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
@@ -40,7 +40,7 @@ FootTrajectoryGenerationAbstract::FootTrajectoryGenerationAbstract(SimplePluginM
   m_Omega = 0.0;
   m_Foot= aFoot;
   m_SamplingPeriod = 0.005;
-  m_isStepStairOn =1;
+  m_isStepStairOn =0;
 
   std::string aMethodName[5] =
     {":omega",
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 70796b5365801f1e6540e7f6fb58edf6f695fc5e..e4da0567ecc035ae732cfa09b8d18aa6f4e20e57 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -114,18 +114,7 @@ protected:
     }
 
     {
-       istringstream strm2(":stepseq 0.0 -0.105 0.0 \
-                          0.2 0.0 0.0 \
-                           0.2 0.0 0.0 \
-                          ");
-    /*  istringstream strm2(":stepseq 0.0 -0.105 0.0 0.0 \
-                          0.2 0.19 0.1 0.0 \
-                            0.2 -0.19 0.1 0.0 \
-                          0.2 0.19 0.1 0.0\
-                           0.2 -0.19 0.1 0.0 \
-                          0.2 0.19 0.1 0.0 \
-                          0.0 -0.19 0.1 0.0");*/
-
+      istringstream strm2(":stepseq 0.0 -0.105 0.0 0.2 0.19 0.0 0.2 -0.19 0.0 0.2 0.19 0.0 0.2 -0.19 0.0 0.2 0.19 0.0 0.0 -0.19 0.0");
       aPGI.ParseCmd(strm2);
     }