diff --git a/include/lipm_walking/Controller.h b/include/lipm_walking/Controller.h
index 56dd502e..fa09e0e1 100644
--- a/include/lipm_walking/Controller.h
+++ b/include/lipm_walking/Controller.h
@@ -339,7 +339,7 @@ namespace lipm_walking
     Stabilizer stabilizer_;
     bool leftFootRatioJumped_ = false;
     double ctlTime_ = 0.;
-    double defaultTorsoPitch_ = 0.1; // [rad]
+    double defaultTorsoPitch_ = 0.; // [rad]
     double doubleSupportDurationOverride_ = -1.; // [s]
     double leftFootRatio_ = 0.5;
     double maxCoMHeight_ = 2.;