diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
index 06fafbea357b3d6af982b7ec76e9cf5eee4e9d57..d158f29bc55ae97cd5be9c07c2aeed7a35e75fb4 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
@@ -73,11 +73,11 @@ FootConstraintsAsLinearSystemForVelRef(SimplePluginManager *aSPM,
 
 
   //TODO: Scilab feet
-  lLeftFootHalfHeight = 0.069-0.059;
+  /*  lLeftFootHalfHeight = 0.069-0.059;
   lRightFootHalfHeight = 0.069-0.059;
 
   lLeftFootHalfWidth = 0.1206-0.1006;
-  lRightFootHalfWidth = 0.1206-0.1006;
+  lRightFootHalfWidth = 0.1206-0.1006; */
 
   DSFeetDistance = 0.2;
   lLeftFootHalfHeightDS = lLeftFootHalfHeight+DSFeetDistance/2.0;