diff --git a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
index 3617d0c04b7a84d3156cc8371873436103abbd08..5f6ce28bc3d510a3bc298591c02bbc16fc305456 100644
--- a/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
+++ b/scripts/hpp_wholebody_motion/wholebody/tsid_invdyn.py
@@ -220,6 +220,7 @@ def generateEEReferenceTrajCollisionFree(fullBody,robot,robotData,t,phase_previo
     
     if viewer and cfg.DISPLAY_FEET_TRAJ :
         display_tools.displaySE3Traj(ref_traj,viewer,eeName+"_trajNoColl",cfg.Robot.dict_limb_color_traj[eeName] ,time_interval ,SE3.Identity())#,cfg.Robot.dict_offset[eeName])                               
+        viewer.client.gui.setVisibility(eeName+"_trajNoColl",'ALWAYS_ON_TOP')
     return ref_traj
 
 def generateWholeBodyMotion(cs,viewer=None,fullBody=None):