diff --git a/examples/pybullet/examples/quadruped.py b/examples/pybullet/examples/quadruped.py
index b676dfff3..c6d93d05f 100644
--- a/examples/pybullet/examples/quadruped.py
+++ b/examples/pybullet/examples/quadruped.py
@@ -3,7 +3,7 @@ import time
 import math
 
 toeConstraint = True
-useMaximalCoordinates = True
+useMaximalCoordinates = False
 useRealTime = 1
 
 #the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance