diff --git a/src/Planners/src/UnicycleTrajectoryGenerator.cpp b/src/Planners/src/UnicycleTrajectoryGenerator.cpp
index 6f1cc45f6b..ff29c8e7f7 100644
--- a/src/Planners/src/UnicycleTrajectoryGenerator.cpp
+++ b/src/Planners/src/UnicycleTrajectoryGenerator.cpp
@@ -750,6 +750,7 @@ bool BipedalLocomotion::Planners::UnicycleTrajectoryGenerator::Impl::mergeTrajec
     trajectory.zmpGeneratorInitialState
         .assign(unicycleTrajectoryPlanner.getOutput().zmpTrajectory.initialState.begin(),
                 unicycleTrajectoryPlanner.getOutput().zmpTrajectory.initialState.end());
+    trajectory.zmpGeneratorInitialState.pop_front();
 
     // get feet cubic spline trajectory