diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index 6004e6b35d259962dcbe024508b30207f4dcd28a..bbd142a0fa8a5a55f5f727f2df152de90c6f93ee 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
@@ -53,6 +53,8 @@ class Robot (Parent):
         -0.04, -0.74, 1.08,-0.34,0.04,0.
         ]
     
+    reference_weights=[100.,1.,1.,0.,0.,0.]
+
     # informations required to generate the limbs databases the limbs : 
     nbSamples = 50000
     octreeSize = 0.01