diff --git a/examples/pybullet/examples/humanoid_benchmark.py b/examples/pybullet/examples/humanoid_benchmark.py
index 028e99622..30d479443 100644
--- a/examples/pybullet/examples/humanoid_benchmark.py
+++ b/examples/pybullet/examples/humanoid_benchmark.py
@@ -6,12 +6,21 @@ p.setPhysicsEngineParameter(numSolverIterations=5)
 p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
 p.setPhysicsEngineParameter(numSubSteps=1)
 
-p.loadMJCF("mjcf/humanoid_symmetric.xml")
+objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
+ob = objects[0]
+p.resetBasePositionAndOrientation(ob,[0.000000,0.000000,0.000000],[0.000000,0.000000,0.000000,1.000000])
+ob = objects[1]
+p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
+jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ]
+for jointIndex in range (p.getNumJoints(ob)):
+	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+
 
 #first let the humanoid fall
-p.setRealTimeSimulation(1)
-time.sleep(3)
+#p.setRealTimeSimulation(1)
+#time.sleep(5)
 p.setRealTimeSimulation(0)
+#p.saveWorld("lyiing.py")
 
 #now do a benchmark
 print("Starting benchmark")