diff --git a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
index 2dac5527c918260897099b0fe40b451c3885cdb3..dec32326fefed9c9e208f75098fc8dc1a4ed97fc 100644
--- a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
+++ b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
@@ -146,6 +146,8 @@ void LeftAndRightFootTrajectoryGenerationMultiple::SetAnInterval(unsigned int In
 					   FootInitialPosition.dtheta);
 
   // Omega
+  cout << "Init omega = " << FootInitialPosition.omega << endl ;
+  cout << "Final omega = " << FootFinalPosition.omega << endl ;
   aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
 					   FootTrajectoryGenerationStandard::OMEGA_AXIS,
 					   m_DeltaTj[IntervalIndex],
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index c135903d3b0d6258956069d6be45675668ca6161..f50972a9bc84e9f53a9b3ca3e4bdc13a5d05376e 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -683,8 +683,8 @@ computing the analytical trajectories. */
       {
         filteredCoM[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
         filteredCoM[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
-        COMStates[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
-        COMStates[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
+        //COMStates[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
+        //COMStates[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
       }
       m_kajitaDynamicFilter->ComputeZMPMB(m_SamplingPeriod, filteredCoM[i],
                                           LeftFootAbsolutePositions[i], RightFootAbsolutePositions[i],
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 909f6f7b174928bcfb31200f675c4848d4163a2e..6acf0e408f8e1b894903adf53ab30bd2973ee43e 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -701,16 +701,6 @@ protected:
       istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
       aPGI.ParseCmd(strm2);
     }
-
-    {
-      istringstream strm2(":omega2 0");
-      aPGI.ParseCmd(strm2);
-    }
-    {
-      istringstream strm2(":omega -3");
-      aPGI.ParseCmd(strm2);
-    }
-
     {
       istringstream strm2(":stepstairseq\
                           0.0 -0.105 0.0 0.0\