diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index 7751bdd15bcbb9f750453f6d973ef082de1db138..422c7a0bf4ab3107d40db879f25856f5eee294c3 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -4,9 +4,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
-VERSION= 1.6.0
-
-PKGNAME= ${PKGTAG.python-}${DISTNAME}
+VERSION= 1.7.0
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot (python bindings)
diff --git a/py-sot-talos-balance/PLIST b/py-sot-talos-balance/PLIST
index c8e941d3adef83d31a66beb97c03c96acde8c52f..bc713c53c49f4d093b616ed4ef85b6ff23a22095 100644
--- a/py-sot-talos-balance/PLIST
+++ b/py-sot-talos-balance/PLIST
@@ -1,76 +1,78 @@
@comment Fri Jul 12 15:51:53 CEST 2019
${PYTHON_SITELIB}/sot_talos_balance/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/ankle_joint_selector/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ankle_joint_selector/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ankle_joint_selector/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/create_entities_utils.py
${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/example/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/example/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/example/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/wrap.so
+${PYTHON_SITELIB}/sot_talos_balance/hip_flexibility_compensation/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/hip_flexibility_compensation/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/int_identity/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/int_identity/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/int_identity/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/main.py
${PYTHON_SITELIB}/sot_talos_balance/meta_task_config.py
${PYTHON_SITELIB}/sot_talos_balance/meta_task_joint.py
${PYTHON_SITELIB}/sot_talos_balance/motor_parameters.py
${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/saturation/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/saturation/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/saturation/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_distribute_wrench/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_distribute_wrench/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_distribute_wrench/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_pid/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_pid/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_pid/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_pidd/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_pidd/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_pidd/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/state_transformation/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/state_transformation/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/state_transformation/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/talos/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/talos/admittance_ctrl_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/balance_ctrl_conf.py
@@ -86,13 +88,14 @@ ${PYTHON_SITELIB}/sot_talos_balance/talos/force_offset_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/force_torque_estimator_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/ft_calibration_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/ft_wrist_calibration_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/hip_flexibility_compensation_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/joint_torque_controller_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/joint_torque_controller_sim_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/parameter_server_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/wrap.so
${PYTHON_SITELIB}/sot_talos_balance/test/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_COMTraj.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_admittance_end_effector.py
@@ -107,6 +110,7 @@ ${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_zmp_control.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_zmp_control_distribute.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_zmp_control_ffdc.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_ffSubscriber.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_hip_flexibility_compensation.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_simple_ankle_admittance.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_zmpEstimator.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_COMTraj.py
@@ -124,6 +128,7 @@ ${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_zmp_control.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_zmp_control_distribute.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_zmp_control_ffdc.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_ffSubscriber.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_hip_flexibility_compensation.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_jointControl.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_jointTrajGen.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_param_server.py
@@ -137,4 +142,4 @@ ${PYTHON_SITELIB}/sot_talos_balance/utils/gazebo_utils.py
${PYTHON_SITELIB}/sot_talos_balance/utils/plot_utils.py
${PYTHON_SITELIB}/sot_talos_balance/utils/run_test_utils.py
${PYTHON_SITELIB}/sot_talos_balance/utils/sot_utils.py
-${PYTHON_SITELIB}/sot_talos_balance/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/wrap.so
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
index f90e1135eea01c084fae0388a3fa9f8641b80d33..c9f170d319052cb7d15d626cbdf987bb8e3572e6 100644
--- a/py-sot-talos-balance/distinfo
+++ b/py-sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-1.6.0.tar.gz) = 33631c1be593df70fcb547c6feb85f4eedf85389
-RMD160 (sot-talos-balance-1.6.0.tar.gz) = 30d993f505a406ce64849a75547fd8172e48c034
-Size (sot-talos-balance-1.6.0.tar.gz) = 8534159 bytes
+SHA1 (sot-talos-balance-1.7.0.tar.gz) = 40cc2917f3ee53bd02015f3a546b8a19ea79a4d7
+RMD160 (sot-talos-balance-1.7.0.tar.gz) = 0d2601a204b9e972e63d2f6326cf7136bb0f6bb3
+Size (sot-talos-balance-1.7.0.tar.gz) = 8568339 bytes
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 8bd513307e2f4a8192d33372f693c88f9cf6de2f..3cfc61a7fcf4828c00f76da4d65894c765eaa306 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -4,7 +4,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
-VERSION= 1.6.0
+VERSION= 1.7.0
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot
diff --git a/sot-talos-balance/PLIST b/sot-talos-balance/PLIST
index c7c2d315ff5c0dfd6130db899932bf6efadabcab..9435e6dc65c42a469be594fbd989201cde0c23f5 100644
--- a/sot-talos-balance/PLIST
+++ b/sot-talos-balance/PLIST
@@ -47,6 +47,8 @@ lib/plugin/ft-calibration.so
lib/plugin/ft-calibration.so.${PKGVERSION}
lib/plugin/ft-wrist-calibration.so
lib/plugin/ft-wrist-calibration.so.${PKGVERSION}
+lib/plugin/hip-flexibility-compensation.so
+lib/plugin/hip-flexibility-compensation.so.${PKGVERSION}
lib/plugin/int-identity.so
lib/plugin/int-identity.so.${PKGVERSION}
lib/plugin/joint-position-controller.so
@@ -112,6 +114,7 @@ share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/RightFoot
share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/WaistOrientation.dat
share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/ZMP.dat
share/sot_talos_balance/launch/spawn_ramp.launch
+share/sot_talos_balance/launch/talos_gazebo_flex.launch
share/sot_talos_balance/launch/talos_gazebo_half_sitting.launch
share/sot_talos_balance/launch/talos_gazebo_testEE.launch
share/sot_talos_balance/launch/talos_gazebo_testEE_calibration.launch
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index f90e1135eea01c084fae0388a3fa9f8641b80d33..c9f170d319052cb7d15d626cbdf987bb8e3572e6 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-1.6.0.tar.gz) = 33631c1be593df70fcb547c6feb85f4eedf85389
-RMD160 (sot-talos-balance-1.6.0.tar.gz) = 30d993f505a406ce64849a75547fd8172e48c034
-Size (sot-talos-balance-1.6.0.tar.gz) = 8534159 bytes
+SHA1 (sot-talos-balance-1.7.0.tar.gz) = 40cc2917f3ee53bd02015f3a546b8a19ea79a4d7
+RMD160 (sot-talos-balance-1.7.0.tar.gz) = 0d2601a204b9e972e63d2f6326cf7136bb0f6bb3
+Size (sot-talos-balance-1.7.0.tar.gz) = 8568339 bytes