diff --git a/CMakeLists.txt b/CMakeLists.txt
index 11373d9..e94b65d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,6 +79,8 @@ SET(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/se3-trajectory-generator.hh
include/${CUSTOM_HEADER_DIR}/free-flyer-locator.hh
include/${CUSTOM_HEADER_DIR}/inverse-dynamics-balance-controller.hh
+ include/${CUSTOM_HEADER_DIR}/simple-inverse-dyn.hh
+ include/${CUSTOM_HEADER_DIR}/posture-task.hh
include/${CUSTOM_HEADER_DIR}/position-controller.hh
include/${CUSTOM_HEADER_DIR}/control-manager.hh
include/${CUSTOM_HEADER_DIR}/current-controller.hh
diff --git a/doc/Overview.md b/doc/Overview.md
index c755e6c..904903d 100644
--- a/doc/Overview.md
+++ b/doc/Overview.md
@@ -51,6 +51,10 @@ Pay attention not to install ROS using robotpkg though, because it would install
You can find the full installation procedure in the installation page.
-Quick instructions on how to run a test can be found here.
+Instructions for running a simulation of Pyrene executing a CoM sinusoid in position or torque control can be found here.
Instructions for running a simulation or an experiment using the DDP on the right elbow of Pyrene can be found here.
+
+Instructions for running a simulation of Pyrene executing a foot sinusoid in the air in torque control can be found here.
+
+Instructions for running a simulation of Pyrene walking in torque control can be found here.
diff --git a/doc/bellStepRun.md b/doc/bellStepRun.md
new file mode 100644
index 0000000..877f4f4
--- /dev/null
+++ b/doc/bellStepRun.md
@@ -0,0 +1,40 @@
+# Pyrene step in the air in torque control
+
+In the following, we demonstrate how to run the foot sinusoid simulation with sot-torque-control, and talos-torque-control.
+
+## Start the simulation
+
+Start the simulation with the robot in the half-sitting position:
+```
+roslaunch talos_data talos_gazebo.launch start_half_sitting:=true
+```
+
+## Start the SoT in torque mode
+
+To start the SoT in simulation in torque mode:
+```
+roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch
+```
+
+## Run the test
+
+First of all, you need to go to the folder where your script is.
+For running the ddp test of talos-torque-control, assuming you are in the root directory:
+
+```
+cd script
+```
+
+Then, you can just run the test :
+
+```
+python sim_torque_bellStep.py
+```
+
+This will launch the simulation making the robot executing a sinusoid movement of its left foot in the air (a "bell step") in torque control.
+
+The script also saves the dynamic graph in /tmp/sot_talos_tsid_bellStep.pdf.
+
+## Other
+
+More information on how to use the SoT and how to work on Talos can be found in the robot wiki page (you need LAAS permissions to access this).
diff --git a/doc/running.md b/doc/running.md
index a273ec1..1b2f8da 100644
--- a/doc/running.md
+++ b/doc/running.md
@@ -1,4 +1,4 @@
-# Running a test
+# Pyrene CoM sinusoid in position or torque control
In the following, we quickly demonstrate how to run a test with sot-torque-control and talos-torque-control.
diff --git a/doc/walkRun.md b/doc/walkRun.md
new file mode 100644
index 0000000..2a3fc13
--- /dev/null
+++ b/doc/walkRun.md
@@ -0,0 +1,59 @@
+# Make Pyrene walk in torque control (quasistatic trajectories)
+
+In the following, we demonstrate how to run the walking simulation with sot-torque-control, and talos-torque-control; using the reference quasistatic trajectories computed by multicontact-api.
+
+## Start the simulation
+
+Start the simulation with the robot in the half-sitting position:
+```
+roslaunch talos_data talos_gazebo.launch start_half_sitting:=true
+```
+
+## Start the SoT in torque mode
+
+To start the SoT in simulation in torque mode:
+```
+roslaunch roscontrol_sot_talos sot_talos_controller_gazebo_effort.launch
+```
+
+## Run the test
+
+First of all, you need to go to the folder where your script is.
+For running the ddp test of talos-torque-control, assuming you are in the root directory:
+
+```
+cd script
+```
+
+Then, you can just run the test, specifying which type of walk you want the robot to execute (on spot or 20cm steps):
+
+```
+Usage: python sim_walk_torque.py walk_type:=[on_spot|walk_20] {path_folder_of_the_reference_trajectories}
+```
+For instance, for the walk on spot simulation, just run:
+
+```
+python sim_walk_torque.py on_spot
+```
+
+This will launch the simulation making the robot walk on spot in torque control (for now only a quasistatic movement).
+
+The script also saves the dynamic graph in /tmp/sot_talos_tsid_walk.pdf.
+
+For the 20cm walk just specify "walk_20" instead of "on_spot" in the command line.
+
+If you have some reference trajectories which are not the ones of the talos-torque-control package, you can test them by specifying the absolute path of their folder:
+
+```
+python sim_walk_torque.py walk_20 path_to_folder_of_ref_trajectories
+```
+
+The trajectories must have a .dat extension and the following names:
+* am.dat -> angular momentum trajectory (3D vector to 9D vector if derivatives)
+* com.dat -> center of Mass trajectory (3D vector to 9D vector if derivatives)
+* leftFoot.dat and rightFoot.dat -> feet trajectories (12D SE3 vector to 36D SE3 vector if derivatives)
+* leftForceFoot.dat and rightForceFoot.dat -> feet forces trajectories (6D vector to 18D vector if derivatives)
+
+## Other
+
+More information on how to use the SoT and how to work on Talos can be found in the robot wiki page (you need LAAS permissions to access this).
diff --git a/include/sot/torque_control/admittance-controller.hh b/include/sot/torque_control/admittance-controller.hh
index edbdea9..9fd7882 100644
--- a/include/sot/torque_control/admittance-controller.hh
+++ b/include/sot/torque_control/admittance-controller.hh
@@ -24,17 +24,17 @@
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-#include