diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index d6f242d6204b29f1970f5945b6c8770228a4f2f9..4280d546db50a7b1eaf272cc6d98b6df9173563e 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-talos-balance
-VERSION=		1.8.1
+VERSION=		1.9.0
 
 CATEGORIES=		wip
 COMMENT=		Balance for TALOS humanoid robot (python bindings)
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
index 3f90fc3d1c69eb485b75e9f990bbb9b87db0fb04..ee9c463e2d3f1791439c79f462ab730aa541db9f 100644
--- a/py-sot-talos-balance/distinfo
+++ b/py-sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-1.8.1.tar.gz) = 2149b3706acee11d767401fc9cb29685a1548ff2
-RMD160 (sot-talos-balance-1.8.1.tar.gz) = 5b9d24cca867f4ddb825d47a41b0edd7f2799a11
-Size (sot-talos-balance-1.8.1.tar.gz) = 33008894 bytes
+SHA1 (sot-talos-balance-1.9.0.tar.gz) = 2399bf0c0c658df4f9b0e42ffa56075d50074082
+RMD160 (sot-talos-balance-1.9.0.tar.gz) = 035f0229e495d2c5d7ef8330f1ed7306515a89f4
+Size (sot-talos-balance-1.9.0.tar.gz) = 32951496 bytes
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 704da13061dc0f308b96473514a9001733d5ae17..716f90af76375fb30a1b06c14ae41ad3d3662b91 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-talos-balance
-VERSION=		1.8.1
+VERSION=		1.9.0
 
 CATEGORIES=		wip
 COMMENT=		Balance for TALOS humanoid robot
diff --git a/sot-talos-balance/PLIST b/sot-talos-balance/PLIST
index 69e59f0bf0ded37b420daa6694e002c15567bec7..206d8c055ea8e5b92f223c654381ac1a972a5e33 100644
--- a/sot-talos-balance/PLIST
+++ b/sot-talos-balance/PLIST
@@ -85,100 +85,100 @@ lib/dynamic-graph-plugins/libtalos-control-manager.so.${PKGVERSION}
 lib/libsot-talos-balance.so
 lib/libsot-talos-balance.so.${PKGVERSION}
 lib/pkgconfig/sot-talos-balance.pc
+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/Torques.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/Torques.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/Torques.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/20cm/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/20cm/ZMP.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/CoM.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/Torques.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/CoM.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/ConfAcceleration.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/ConfVelocity.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/Phase.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/Torques.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/CoM.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/CoM.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/Phase.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/Rho.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/Torques.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/CoM.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/Torques.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/CoM.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/Configuration.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/FeetForces.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/Phase.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/Torques.dat
+share/sot-talos-balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/WaistOrientation.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/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/CoM.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/Phase.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/Rho.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/Torques.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/CoM.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/Phase.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/Rho.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/Torques.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/WaistOrientation.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/CoM.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/LeftFoot.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/RightFoot.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/Torques.dat
+share/sot-talos-balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/WaistOrientation.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
 share/sot-talos-balance/package.xml
-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/Torques.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/Torques.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/Torques.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/20cm/ZMP.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/CoM.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/Torques.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_10cm_ssp_900_dsp_115_width_21cm/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/CoM.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/ConfAcceleration.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/ConfVelocity.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/Phase.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/Torques.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/half_step_20cm_ssp_900_dsp_115_width_21cm/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/CoM.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_790_dsp_115/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/CoM.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/Phase.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/Rho.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/Torques.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/CoM.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/Torques.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_10cm_ssp_900_dsp_115_width_21cm/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/CoM.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/Configuration.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/FeetForces.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/Phase.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/Torques.dat
-share/sot_talos_balance/data/TestKajita2003StraightWalking64/one_step_20cm_ssp_900_dsp_400_width_21cm/WaistOrientation.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/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/CoM.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/Phase.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/Rho.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/Torques.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_780_dsp_020/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/CoM.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/Phase.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/Rho.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/Torques.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115/WaistOrientation.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/CoM.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/LeftFoot.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/RightFoot.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/Torques.dat
-share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/onestep_ssp_900_dsp_115_width_21cm/WaistOrientation.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
-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
+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 3f90fc3d1c69eb485b75e9f990bbb9b87db0fb04..ee9c463e2d3f1791439c79f462ab730aa541db9f 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-1.8.1.tar.gz) = 2149b3706acee11d767401fc9cb29685a1548ff2
-RMD160 (sot-talos-balance-1.8.1.tar.gz) = 5b9d24cca867f4ddb825d47a41b0edd7f2799a11
-Size (sot-talos-balance-1.8.1.tar.gz) = 33008894 bytes
+SHA1 (sot-talos-balance-1.9.0.tar.gz) = 2399bf0c0c658df4f9b0e42ffa56075d50074082
+RMD160 (sot-talos-balance-1.9.0.tar.gz) = 035f0229e495d2c5d7ef8330f1ed7306515a89f4
+Size (sot-talos-balance-1.9.0.tar.gz) = 32951496 bytes