diff --git a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
index 67a0578c4ffc665272501383f47b0f9bc8c0e47a..f2c815dab9768a7415d8e04298b18f17c350c8d3 100644
--- a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
+++ b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
@@ -349,7 +349,7 @@ def generateWholeBodyMotion(cs,viewer=None,fullBody=None):
             if phase_next and not isContactActive(phase,eeName)  and isContactActive(phase_next,eeName): 
                 if cfg.WB_VERBOSE :
                     print "add se3 task for "+eeName
-                invdyn.addMotionTask(task, cfg.w_eff, 1, 0.0)
+                invdyn.addMotionTask(task, cfg.w_eff, 0, 0.0)
                 #create reference trajectory for this task : 
                 ref_traj = generateEEReferenceTraj(robot,invdyn.data(),t,phase,phase_next,eeName,viewer)  
                 dic_effectors_trajs.update({eeName:ref_traj})