diff --git a/python/sot_talos_balance/test/appli_dcmZmpControl_file.py b/python/sot_talos_balance/test/appli_dcmZmpControl_file.py
index d647a2b806ae35bcb2d092170bfa0c4ccb2aa9fd..6fc0fea9e63544d368344ab72b4488f4f6cf385e 100644
--- a/python/sot_talos_balance/test/appli_dcmZmpControl_file.py
+++ b/python/sot_talos_balance/test/appli_dcmZmpControl_file.py
@@ -197,7 +197,7 @@ robot.zmp_estimator = zmp_estimator
 # -------------------------- ADMITTANCE CONTROL --------------------------
 
 # --- DCM controller
-Kp_dcm = [5.0,5.0,5.0]
+Kp_dcm = [8.0]*3
 Ki_dcm = [0.0,0.0,0.0] # zero (to be set later)
 gamma_dcm = 0.2
 
@@ -235,7 +235,7 @@ com_admittance_control.setState(robot.wp.comDes.value,[0.0,0.0,0.0])
 
 robot.com_admittance_control = com_admittance_control
 
-Kp_adm = [20.0,10.0,0.0] # this value is employed later
+Kp_adm = [15.0,15.0,0.0] # this value is employed later
 
 # --- Control Manager
 robot.cm = create_ctrl_manager(cm_conf, dt, robot_name='robot')
diff --git a/python/sot_talos_balance/test/test_dcmZmpControl_file.py b/python/sot_talos_balance/test/test_dcmZmpControl_file.py
index 08545359dd95c21bac7a8a76d46af8c86f862d9c..9bfbac72f3b0f5f88b33f7c876f746ff7cfbf75f 100644
--- a/python/sot_talos_balance/test/test_dcmZmpControl_file.py
+++ b/python/sot_talos_balance/test/test_dcmZmpControl_file.py
@@ -3,7 +3,7 @@ from sot_talos_balance.utils.run_test_utils import *
 from time import sleep
 
 from sys import argv
-test_folder = sys.argv[1] if len(argv)>1 else 'TestKajita2003WalkingOnSpot64'
+test_folder = sys.argv[1] if len(argv)>1 else 'TestKajita2003WalkingOnSpot64/DSP20SSP780'
 print('Using folder ' + test_folder)
 
 runCommandClient('test_folder = "' + test_folder + '"')
diff --git a/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/CoM.dat b/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/CoM.dat
similarity index 100%
rename from ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/CoM.dat
rename to ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/CoM.dat
diff --git a/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/LeftFoot.dat b/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/LeftFoot.dat
similarity index 100%
rename from ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/LeftFoot.dat
rename to ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/LeftFoot.dat
diff --git a/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/RightFoot.dat b/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/RightFoot.dat
similarity index 100%
rename from ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/RightFoot.dat
rename to ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/RightFoot.dat
diff --git a/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/WaistOrientation.dat b/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/WaistOrientation.dat
similarity index 100%
rename from ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/WaistOrientation.dat
rename to ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/WaistOrientation.dat
diff --git a/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/ZMP.dat b/ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/ZMP.dat
similarity index 100%
rename from ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/ZMP.dat
rename to ros/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/ZMP.dat