diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index c8c729ea4d60279ca3fbb580532df6f5e2abc525..b9e17afc8e7a4429b84f707fddcf8798313d0f67 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -4,8 +4,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
-VERSION= 1.5.0
-PKGREVISION= 2
+VERSION= 1.6.0
PKGNAME= ${PKGTAG.python-}${DISTNAME}
@@ -14,9 +13,7 @@ COMMENT= Balance for TALOS humanoid robot (python bindings)
LICENSE= 2-clause-bsd
MAINTAINER= gepetto-soft@laas.fr
-CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF
-CMAKE_ARGS+= -DINSTALL_PYTHON_INTERFACE_ONLY=ON
-CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=ON
+USE_PYTHON_ONLY= true
include ../../${CATEGORIES}/${NAME}/depend.mk
include ../../wip/jrl-cmakemodules/Makefile.common
diff --git a/py-sot-talos-balance/PLIST b/py-sot-talos-balance/PLIST
index adb241590b361685afbb06e2465a885f15a207a4..c8e941d3adef83d31a66beb97c03c96acde8c52f 100644
--- a/py-sot-talos-balance/PLIST
+++ b/py-sot-talos-balance/PLIST
@@ -2,10 +2,16 @@
${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}
+${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${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/boolean_identity/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
${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}
@@ -23,10 +29,14 @@ ${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/example/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/example/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/int_identity/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/int_identity/wrap${PYTHON_EXT_SUFFIX}
${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/main.py
@@ -41,8 +51,14 @@ ${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/quat_to_euler/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/saturation/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/saturation/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/__init__.py
${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/wrap${PYTHON_EXT_SUFFIX}
${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_pid/__init__.py
@@ -65,6 +81,7 @@ ${PYTHON_SITELIB}/sot_talos_balance/talos/control_manager_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/control_manager_sim_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/current_controller_conf.py
${PYTHON_SITELIB}/sot_talos_balance/talos/current_controller_sim_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/distribute_conf.py
${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
@@ -86,7 +103,11 @@ ${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmComZmpControl.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmZmpControl.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmZmpControl_file.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_estimator.py
+${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_simple_ankle_admittance.py
${PYTHON_SITELIB}/sot_talos_balance/test/appli_zmpEstimator.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_COMTraj.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_COMTraj_tracer.py
@@ -99,10 +120,14 @@ ${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmComZmpControl.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmZmpControl.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmZmpControl_file.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_estimator.py
+${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_jointControl.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_jointTrajGen.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_param_server.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_simple_ankle_admittance.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_singleTraj.py
${PYTHON_SITELIB}/sot_talos_balance/test/test_zmpEstimator.py
${PYTHON_SITELIB}/sot_talos_balance/utils/__init__.py
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
index 64170608f15d9ba2071c91955bdd8a458e787cb3..f90e1135eea01c084fae0388a3fa9f8641b80d33 100644
--- a/py-sot-talos-balance/distinfo
+++ b/py-sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-1.5.0.tar.gz) = 19737c2e3d1ad2ada5780e92d8f3577ac958664d
-RMD160 (sot-talos-balance-1.5.0.tar.gz) = d855da25d31e23a1f75fc52b7c8bcc158a38dc3d
-Size (sot-talos-balance-1.5.0.tar.gz) = 8424691 bytes
+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
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 8fbd19da15cf3e1d8ef5fc1afedd9022644b56d1..53b18e9afc9ce9588cec387b6ee8993561d26669 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -4,8 +4,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
-VERSION= 1.5.0
-PKGREVISION= 4
+VERSION= 1.6.0
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot
diff --git a/sot-talos-balance/PLIST b/sot-talos-balance/PLIST
index adc3c48607597dd49ff2c70ea60abfd030a4ca28..c7c2d315ff5c0dfd6130db899932bf6efadabcab 100644
--- a/sot-talos-balance/PLIST
+++ b/sot-talos-balance/PLIST
@@ -1,25 +1,30 @@
-@comment Tue Jul 2 03:58:14 CEST 2019
+@comment Tue Sep 17 16:43:26 CEST 2019
+include/sot/talos_balance/Markup.h
+include/sot/talos_balance/Network.h
+include/sot/talos_balance/RTPacket.h
+include/sot/talos_balance/RTProtocol.h
+include/sot/talos_balance/commands-helper.hh
include/sot/talos_balance/config.hh
include/sot/talos_balance/deprecated.hh
-include/sot/talos_balance/math/fwd.hh
-include/sot/talos_balance/robot/fwd.hh
-include/sot/talos_balance/robot/robot-wrapper.hh
-include/sot/talos_balance/sdk_qualisys/Markup.h
-include/sot/talos_balance/sdk_qualisys/Network.h
-include/sot/talos_balance/sdk_qualisys/RTPacket.h
-include/sot/talos_balance/sdk_qualisys/RTProtocol.h
-include/sot/talos_balance/utils/commands-helper.hh
-include/sot/talos_balance/utils/statistics.hh
+include/sot/talos_balance/fwd.hh
+include/sot/talos_balance/robot-wrapper.hh
+include/sot/talos_balance/statistics.hh
include/sot/talos_balance/warning.hh
lib/libsot-talos-balance.so
lib/libsot-talos-balance.so.${PKGVERSION}
lib/pkgconfig/sot-talos-balance.pc
lib/plugin/admittance-controller-end-effector.so
lib/plugin/admittance-controller-end-effector.so.${PKGVERSION}
+lib/plugin/ankle-admittance-controller.so
+lib/plugin/ankle-admittance-controller.so.${PKGVERSION}
+lib/plugin/ankle-joint-selector.so
+lib/plugin/ankle-joint-selector.so.${PKGVERSION}
lib/plugin/boolean-identity.so
lib/plugin/boolean-identity.so.${PKGVERSION}
lib/plugin/com-admittance-controller.so
lib/plugin/com-admittance-controller.so.${PKGVERSION}
+lib/plugin/coupled-admittance-controller.so
+lib/plugin/coupled-admittance-controller.so.${PKGVERSION}
lib/plugin/dcm-com-controller.so
lib/plugin/dcm-com-controller.so.${PKGVERSION}
lib/plugin/dcm-controller.so
@@ -36,10 +41,14 @@ lib/plugin/euler-to-quat.so
lib/plugin/euler-to-quat.so.${PKGVERSION}
lib/plugin/example.so
lib/plugin/example.so.${PKGVERSION}
+lib/plugin/foot-force-difference-controller.so
+lib/plugin/foot-force-difference-controller.so.${PKGVERSION}
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/int-identity.so
+lib/plugin/int-identity.so.${PKGVERSION}
lib/plugin/joint-position-controller.so
lib/plugin/joint-position-controller.so.${PKGVERSION}
lib/plugin/nd-trajectory-generator.so
@@ -50,8 +59,14 @@ lib/plugin/qualisys-client.so
lib/plugin/qualisys-client.so.${PKGVERSION}
lib/plugin/quat-to-euler.so
lib/plugin/quat-to-euler.so.${PKGVERSION}
+lib/plugin/round-double-to-int.so
+lib/plugin/round-double-to-int.so.${PKGVERSION}
+lib/plugin/saturation.so
+lib/plugin/saturation.so.${PKGVERSION}
lib/plugin/simple-admittance-controller.so
lib/plugin/simple-admittance-controller.so.${PKGVERSION}
+lib/plugin/simple-controller-6d.so
+lib/plugin/simple-controller-6d.so.${PKGVERSION}
lib/plugin/simple-distribute-wrench.so
lib/plugin/simple-distribute-wrench.so.${PKGVERSION}
lib/plugin/simple-pid.so
@@ -70,28 +85,38 @@ lib/plugin/talos-control-manager.so
lib/plugin/talos-control-manager.so.${PKGVERSION}
share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/CoM.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/LeftFoot.dat
+share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/Phase.dat
+share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/Rho.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/RightFoot.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/WaistOrientation.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/ZMP.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/CoM.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/LeftFoot.dat
+share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/Phase.dat
+share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/Rho.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/RightFoot.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/WaistOrientation.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/15cm/ZMP.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/CoM.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/LeftFoot.dat
+share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/Phase.dat
+share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/Rho.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/RightFoot.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/WaistOrientation.dat
share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/ZMP.dat
share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/CoM.dat
share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/LeftFoot.dat
+share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/Phase.dat
+share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/Rho.dat
share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/RightFoot.dat
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_half_sitting.launch
share/sot_talos_balance/launch/talos_gazebo_testEE.launch
share/sot_talos_balance/launch/talos_gazebo_testEE_calibration.launch
share/sot_talos_balance/package.xml
+share/sot_talos_balance/urdf/ramp.urdf
share/sot_talos_balance/yaml/EETest.yaml
share/sot_talos_balance/yaml/EETest_calibration.yaml
share/sot_talos_balance/yaml/half_sitting.yaml
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index fd7396a48543551e865e2463093fdf9b51e3dab3..f90e1135eea01c084fae0388a3fa9f8641b80d33 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,4 +1,3 @@
-SHA1 (sot-talos-balance-1.5.0.tar.gz) = 19737c2e3d1ad2ada5780e92d8f3577ac958664d
-RMD160 (sot-talos-balance-1.5.0.tar.gz) = d855da25d31e23a1f75fc52b7c8bcc158a38dc3d
-Size (sot-talos-balance-1.5.0.tar.gz) = 8424691 bytes
-SHA1 (patch-aa) = e6a67a3de699004c51f1325726df6e925cbb13d0
+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