diff --git a/projects/JVRC1/cnoid/sim_mc.py b/projects/JVRC1/cnoid/sim_mc.py
index cc8f638..4cc328a 100644
--- a/projects/JVRC1/cnoid/sim_mc.py
+++ b/projects/JVRC1/cnoid/sim_mc.py
@@ -126,6 +126,7 @@ def startMCControl():
     mc.setProperty("is_enabled", "1")
 
 def connectMCControl():
+    connectPorts(sh.port("qOut"), mc.port("qInit"))
     connectPorts(rh.port("q"), mc.port("qIn"))
     connectPorts(rh.port("dq"), mc.port("alphaIn"))
     connectPorts(rh.port("tauOut"), mc.port("taucIn"))
diff --git a/src/MCControl.cpp b/src/MCControl.cpp
index 5366525..7a13dff 100644
--- a/src/MCControl.cpp
+++ b/src/MCControl.cpp
@@ -342,7 +342,16 @@ RTC::ReturnCode_t MCControl::onExecute(RTC::UniqueId ec_id)
       if(!init)
       {
         mc_rtc::log::info("Init controller");
-        controller.init(qIn);
+        if(qInit.size() == qIn.size())
+        {
+          controller.init(qInit);
+        }
+        else
+        {
+          mc_rtc::log::warning("The size of qInit does not mach the size of qIn, please update the corresponding "
+                               "Python script... using qIn instead to initialize the controller");
+          controller.init(qIn);
+        }
         init = true;
       }
       if(controller.run())