diff --git a/conf/xml/Human.xml b/conf/xml/Human.xml
index 3d1d5f80d..73af36a7a 100644
--- a/conf/xml/Human.xml
+++ b/conf/xml/Human.xml
@@ -129,6 +129,7 @@
         <param name="human_urdf">humanSubject03_66dof.urdf</param>
         <param name="pHRIScenario">false</param>
         <param name="sources">(FTShoeLeft FTShoeRight)</param>
+	<param name="base_name">Pelvis</param>
         <group name="FTShoeLeft">
             <param name="sensorName">FTShoeLeftFTSensors</param>
             <param name="outputFrame">LeftFoot</param>
@@ -180,6 +181,7 @@
         </group>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
+		 <elem name="HumanStateProviderLabel">HumanStateProvider</elem>
                  <elem name="HumanWrenchProviderLabelFTShoeLeft">FTSourcesIWearRemapper</elem>
             </paramlist>
         </action>