diff --git a/idls/BlindState.idl b/idls/BlindState.idl
index 2afba5f..dab5dce 100644
--- a/idls/BlindState.idl
+++ b/idls/BlindState.idl
@@ -19,6 +19,7 @@ module dls2_interface
       sequence<double> joints_temperature;
       sequence<boolean> feet_contact;
       sequence<double> current_feet_positions;
+			sequence<double> joints_current;
     };
   };
 };
diff --git a/idls/DlsRobotStateLight.idl b/idls/DlsRobotStateLight.idl
index 7594014..2b37662 100644
--- a/idls/DlsRobotStateLight.idl
+++ b/idls/DlsRobotStateLight.idl
@@ -14,6 +14,7 @@ module dls2_interface {
 
 			dls2_interface::msg::WrenchLight base_wrench;
 
+			sequence<dls2_interface::msg::Vec3> feet_position;
 			sequence<dls2_interface::msg::Vec3> feet_forces;
 			dls2_interface::msg::FrictionConeList friction_cones;
 
diff --git a/idls/ReferenceLight.idl b/idls/ReferenceLight.idl
index 71c35b5..8c518b9 100644
--- a/idls/ReferenceLight.idl
+++ b/idls/ReferenceLight.idl
@@ -7,16 +7,13 @@ module dls2_interface {
 	module msg {
 		struct ReferenceLight
 		{
-			sequence<double> joint_torques;
 			dls2_interface::msg::JointStatesLight joints_state;
 			
+			sequence<dls2_interface::msg::Vec3> feet_position;
 			sequence<dls2_interface::msg::Vec3> feet_forces;
 
 			dls2_interface::msg::Pose base_pose;
 			dls2_interface::msg::Screw base_velocity;
-
-			sequence<dls2_interface::msg::Pose> traj_poses;
-			sequence<dls2_interface::msg::Screw> traj_screws;
 		};
 	};
 };
\ No newline at end of file