diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index 006525dc36cc3d12381c3ca58e7f9a67892b1ff6..32391e05fb01563f65d0517f9410097b2090973b 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
@@ -73,7 +73,8 @@ class Robot (Parent):
 
     # data used by scripts :,,,
     #limbs_names = [rArmId,lLegId,lArmId,rLegId] # reverse default order to try to remove contacts at the beginning of the contact plan
-    limbs_names = [lLegId,rArmId,rLegId,lArmId] # default order to try to remove contacts at the beginning of the contact plan
+    #limbs_names = [lLegId,rArmId,rLegId,lArmId] # default order to try to remove contacts at the beginning of the contact plan
+    limbs_names = [rArmId,lArmId,lLegId,rLegId]
     dict_limb_rootJoint = {rLegId:rleg, lLegId:lleg, rArmId:rarm, lArmId:larm}
     dict_limb_joint = {rLegId:rfoot, lLegId:lfoot, rArmId:rhand, lArmId:lhand}
     dict_limb_color_traj = {rfoot:[0,1,0,1], lfoot:[1,0,0,1],rhand:[0,0,1,1],lhand:[0.9,0.5,0,1]}