diff --git a/python/sot_talos_balance/talos/__init__.py b/python/sot_talos_balance/talos/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/python/sot_talos_balance/talos/admittance_ctrl_conf.py b/python/sot_talos_balance/talos/admittance_ctrl_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..87dd8caa12d92371603e5eb118fc425210ba7811
--- /dev/null
+++ b/python/sot_talos_balance/talos/admittance_ctrl_conf.py
@@ -0,0 +1,9 @@
+from math import sqrt
+import numpy as np
+
+kp_force = 6*(0.0,)
+ki_force = 6*(0.0,)
+kp_vel = 32*(0.0,)
+ki_vel = 32*(0.0,)
+force_integral_saturation = (0.0, 0.0, 160.0, 20.0, 20.0, 0.0)
+force_integral_deadzone = (5.0, 5.0, 5.0, 0.5, 0.5, 0.5)
diff --git a/python/sot_talos_balance/talos/balance_ctrl_conf.py b/python/sot_talos_balance/talos/balance_ctrl_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..f8bedbb32b74e404b209ce060afd590370e1fa1d
--- /dev/null
+++ b/python/sot_talos_balance/talos/balance_ctrl_conf.py
@@ -0,0 +1,52 @@
+from math import sqrt
+import numpy as np
+
+''' *********************** USER-PARAMETERS *********************** '''
+
+COM_DES = (0.00, 0.0, 0.81);
+
+# CONTROLLER GAINS
+NJ = 32;
+kp_posture = NJ*(100.0,); # proportional gain of postural task
+kd_posture = NJ*(0*sqrt(kp_posture[0]),);
+kp_pos = NJ*(0.0,); # proportional gain of position controller
+kd_pos = NJ*(0*sqrt(kp_pos[0]),);
+kp_constr = .0*1.0; # constraint proportional feedback gain
+kd_constr = 0*sqrt(kp_constr); # constraint derivative feedback gain
+kp_com = .0*30.0;
+kd_com = 0.0;
+kp_feet = .0*30.0;
+kd_feet = 0.0;
+kp_admittance = (0,0,0,.0*1,.0*1,0.);
+ki_admittance = 6*(0.0,);
+constraint_mask = np.array([True, True, True, True, True, True]).T;
+ee_mask = np.array([True, True, True, True, True, True]).T;
+
+# CONTROLLER WEIGTHS
+w_com = .0*1.0;
+w_feet = .0*1.0;
+w_posture = 1e-3; # weight of postural task
+w_forces = .0*1e-6;
+w_base_orientation = 0.0;
+w_torques = 0.0;
+
+# CONTACT PARAMETERS
+RIGHT_FOOT_SIZES = (0.130, -0.100, 0.056, -0.075); # pos x, neg x, pos y, neg y size
+LEFT_FOOT_SIZES = (0.130, -0.100, 0.075, -0.056); # pos x, neg x, pos y, neg y size
+
+RIGHT_FOOT_SIZES = (0.130, -0.100, 0.056, -0.056); # pos x, neg x, pos y, neg y size
+RIGHT_FOOT_CONTACT_POINTS = ((RIGHT_FOOT_SIZES[0], RIGHT_FOOT_SIZES[0], RIGHT_FOOT_SIZES[1], RIGHT_FOOT_SIZES[1]),
+ (RIGHT_FOOT_SIZES[3], RIGHT_FOOT_SIZES[2], RIGHT_FOOT_SIZES[3], RIGHT_FOOT_SIZES[2]),
+ (-0.105, -0.105, -0.105, -0.105)); # contact points in local reference frame
+
+LEFT_FOOT_CONTACT_POINTS = np.matrix([[LEFT_FOOT_SIZES[0], LEFT_FOOT_SIZES[3], -0.105],
+ [LEFT_FOOT_SIZES[0], LEFT_FOOT_SIZES[2], -0.105],
+ [LEFT_FOOT_SIZES[1], LEFT_FOOT_SIZES[3], -0.105],
+ [LEFT_FOOT_SIZES[1], LEFT_FOOT_SIZES[2], -0.105]]).T # contact points in local reference frame
+FOOT_CONTACT_NORMAL = (0.0, 0.0, 1.0);
+mu = np.array([0.3, 0.1]); # force and moment friction coefficient
+fMin = 1.0; # minimum normal force
+fMax = 1e3; # maximum normal force
+
+RF_FORCE_DES = (0, 0, 300, 0, 0, 0.);
+LF_FORCE_DES = (0, 0, 300, 0, 0, 0.);
diff --git a/python/sot_talos_balance/talos/balance_ctrl_sim_conf.py b/python/sot_talos_balance/talos/balance_ctrl_sim_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..2d3cede9c2d63d77b5563b7e50639ecccc6b45af
--- /dev/null
+++ b/python/sot_talos_balance/talos/balance_ctrl_sim_conf.py
@@ -0,0 +1,9 @@
+
+from balance_ctrl_conf import *
+
+# CONTROLLER GAINS
+kp_posture = NJ*(400.0,);
+kd_posture = NJ*(sqrt(kp_posture[0]),);
+kd_constr = 0.0*2*sqrt(kp_constr); # constraint derivative feedback gain
+kd_com = 0.0*2*sqrt(kp_com);
+kd_feet = 0.0*2*sqrt(kp_feet);
diff --git a/python/sot_talos_balance/talos_conf.py b/python/sot_talos_balance/talos/base_estimator_conf.py
similarity index 100%
rename from python/sot_talos_balance/talos_conf.py
rename to python/sot_talos_balance/talos/base_estimator_conf.py
diff --git a/python/sot_talos_balance/talos/base_estimator_sim_conf.py b/python/sot_talos_balance/talos/base_estimator_sim_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..707820c99840bb6416348c2a7278e3a4c4d0a6cc
--- /dev/null
+++ b/python/sot_talos_balance/talos/base_estimator_sim_conf.py
@@ -0,0 +1,4 @@
+
+''' *********************** USER-PARAMETERS OF BASE ESTIMATOR *********************** '''
+from base_estimator_conf import *
+K = 6*(1e7,);
diff --git a/python/sot_talos_balance/talos/control_manager_conf.py b/python/sot_talos_balance/talos/control_manager_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..3e2f956581f395beb91712f2761f95f52b8225c1
--- /dev/null
+++ b/python/sot_talos_balance/talos/control_manager_conf.py
@@ -0,0 +1,114 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+import numpy as np
+
+NJ = 32;
+TAU_MAX = 1.*1e2; # max joint torques (security check of ControlManager)
+CURRENT_MAX = 20.0; # max motor current (security check of ControlManager)
+CTRL_MAX = 20.0; # max desired current (security check of ControlManager)
+model_path = ["/opt/openrobots/share"];
+urdfFileName = model_path[0] + "/talos_data/robots/talos_reduced.urdf";
+ImuJointName = "imu_joint";
+
+mapJointNameToID={
+ 'lhy' : 0,
+ 'lhr' : 1,
+ 'lhp' : 2,
+ 'lk' : 3,
+ 'lap' : 4,
+ 'lar' : 5,
+ 'rhy' : 6,
+ 'rhr' : 7,
+ 'rhp' : 8,
+ 'rk' : 9,
+ 'rap' : 10,
+ 'rar' : 11,
+ 'ty' : 12,
+ 'tp' : 13,
+ 'lsy' : 14,
+ 'lsr' : 15,
+ 'lay' : 16,
+ 'le' : 17,
+ 'lwy' : 18,
+ 'lwp' : 19,
+ 'lwr' : 20,
+ 'lh' : 21,
+ 'rsy' : 22,
+ 'rsr' : 23,
+ 'ray' : 24,
+ 're' : 25,
+ 'rwy' : 26,
+ 'rwp' : 27,
+ 'rwr' : 28,
+ 'rh' : 29,
+ 'hp' : 30,
+ 'hy' : 31
+}
+
+
+
+mapJointLimits={
+ 0 : [-0.349065850399, 1.57079632679],
+ 1 : [-0.5236, 0.5236],
+ 2 : [-2.095, 0.7],
+ 3 : [0.0, 2.618],
+ 4 : [-1.309, 0.768],
+ 5 : [-0.5236, 0.5236],
+ 6 : [-1.57079632679, 0.349065850399],
+ 7 : [-0.5236, 0.5236],
+ 8 : [-2.095, 0.7],
+ 9 : [0.0, 2.618],
+ 10 : [-1.309, 0.768],
+ 11 : [-0.5236, 0.5236],
+ 12 : [-1.308996939, 1.308996939],
+ 13 : [-0.261799387799, 0.785398163397],
+ 14 : [-1.57079632679, 0.523598775598],
+ 15 : [0.0, 2.87979326579],
+ 16 : [-2.44346095279, 2.44346095279],
+ 17 : [-2.35619449019, 0.0],
+ 18 : [-2.53072741539, 2.53072741539],
+ 19 : [-1.3962634016, 1.3962634016],
+ 20 : [-0.698131700798, 0.698131700798],
+ 21 : [-1.0471975512, 0.0],
+ 22 : [-0.523598775598, 1.57079632679],
+ 23 : [-2.87979326579, 0.0],
+ 24 : [-2.44346095279, 2.44346095279],
+ 25 : [-2.35619449019, 0.0],
+ 26 : [-2.53072741539, 2.53072741539],
+ 27 : [-1.3962634016, 1.3962634016],
+ 28 : [-0.698131700798, 0.698131700798],
+ 29 : [-1.0471975512, 0.0],
+ 30 : [-0.261799387799, 0.785398163397],
+ 31 : [-1.308996939, 1.308996939]
+}
+
+vfMax=np.array([100.0,100.0,300.0,80.0,80.0,30.0])
+vfMin=-vfMax
+mapForceIdToForceLimits={
+ 0: [vfMin,vfMax],
+ 1: [vfMin,vfMax],
+ 2: [vfMin,vfMax],
+ 3: [vfMin,vfMax]
+ }
+
+mapNameToForceId={
+ "rf": 0,
+ "lf": 1,
+ "rh": 2,
+ "lh": 3
+ }
+
+indexOfForceSensors= ()
+
+footFrameNames= {
+ "Right": "leg_right_6_joint",
+ "Left" : "leg_left_6_joint"
+}
+
+rightFootSensorXYZ = (0.0,0.0,-0.085)
+rightFootSoleXYZ = (0.0,0.0,-0.105)
+
+urdftosot=(0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31)
diff --git a/python/sot_talos_balance/talos/control_manager_sim_conf.py b/python/sot_talos_balance/talos/control_manager_sim_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..51ce2f4592afa5acd30e4a03e24568cd40cd0245
--- /dev/null
+++ b/python/sot_talos_balance/talos/control_manager_sim_conf.py
@@ -0,0 +1,11 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+
+from control_manager_conf import *
+
+TAU_MAX = 1e6; # security check of ControlManager
+CURRENT_MAX = 1e6; # security check of ControlManager
+CTRL_MAX = 1e6; # max desired current (security check of ControlManager)
diff --git a/python/sot_talos_balance/talos/current_controller_conf.py b/python/sot_talos_balance/talos/current_controller_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..52fed568f0ae8b6e989627b3adc82f2739395788
--- /dev/null
+++ b/python/sot_talos_balance/talos/current_controller_conf.py
@@ -0,0 +1,70 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+import numpy as np
+
+NJ = 32;
+CURRENT_OFFSET_ITERS = 200; # Number of itertion while control is disabled to calibrate current sensors
+CURRENT_MAX = 8.0; # max motor current (security check of ControlManager)
+CTRL_MAX = 10.0; # max desired current (security check of ControlManager)
+CTRL_SATURATION = 2047; # saturation of the control signal
+IN_OUT_GAIN = 102.4; # factor to convert from a [-20.0 ; 20.0] Ampers value to the [-2048 ; 2048] 12bit DAC register
+percentage_dead_zone_compensation = NJ*[0.,]; # percentage of dead zone to compensate (used by ControlManager)
+i_max_dz_comp = NJ*[0.05,]; # value of current tracking error at which deadzone is completely compensated
+percentage_bemf_compensation = NJ*[0.,]
+current_sensor_offsets_low_level = NJ*[0.,]
+kp_current = NJ*[0.,];
+ki_current = np.array(NJ*[0.,]);
+
+percentage_bemf_compensation[0] = 0.9
+percentage_bemf_compensation[1] = 0.9 # a bit unstable
+percentage_bemf_compensation[2] = 0.9
+percentage_bemf_compensation[3] = 0.9
+percentage_bemf_compensation[4] = 1.0
+percentage_bemf_compensation[5] = 0.9
+percentage_bemf_compensation[6] = 0.9
+percentage_bemf_compensation[7] = 0.9
+percentage_bemf_compensation[8] = 0.9
+percentage_bemf_compensation[9] = 0.9
+percentage_bemf_compensation[10] = 0.9
+percentage_bemf_compensation[11] = 0.9
+
+percentage_dead_zone_compensation[0] = 0.8
+percentage_dead_zone_compensation[1] = 0.8
+percentage_dead_zone_compensation[2] = 0.8 # could go up to 1.2
+percentage_dead_zone_compensation[3] = 0.8
+percentage_dead_zone_compensation[4] = 0.8 # a bit unstable
+percentage_dead_zone_compensation[5] = 0.8
+percentage_dead_zone_compensation[6] = 0.8
+percentage_dead_zone_compensation[7] = 0.8
+percentage_dead_zone_compensation[8] = 0.8
+percentage_dead_zone_compensation[9] = 0.8
+percentage_dead_zone_compensation[10] = 0.8 # very asymettric error, a bit unstable on negative currents, may need investigation
+percentage_dead_zone_compensation[11] = 0.8 # getting some vibrations for negative errors, may need investigation
+
+i_max_dz_comp[0] = 0.03
+
+current_sensor_offsets_low_level[0] = 0.04
+current_sensor_offsets_low_level[2] = -0.05
+current_sensor_offsets_low_level[5] = 0.02
+current_sensor_offsets_low_level[6] = 0.01
+current_sensor_offsets_low_level[7] = 0.01
+current_sensor_offsets_low_level[8] = -0.01
+current_sensor_offsets_low_level[10] = -0.11
+current_sensor_offsets_low_level[11] = -0.04
+
+ki_current[0] = 3e-3 # could go higher
+ki_current[1] = 3e-3 # could go higher
+ki_current[2] = 1e-3 # could probably go higher
+ki_current[3] = 3e-3
+ki_current[4] = 1e-3 # could probably go higher
+ki_current[5] = 3e-3 # could probably go higher
+ki_current[6] = 1e-3
+ki_current[7] = 1e-3
+ki_current[8] = 1e-3
+ki_current[9] = 1e-3
+ki_current[10] = 1e-3
+ki_current[11] = 1e-3
+#ki_current[:] = 0.0
diff --git a/python/sot_talos_balance/talos/current_controller_sim_conf.py b/python/sot_talos_balance/talos/current_controller_sim_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..ca0bb4b35d255ffdd1ff7a0883212d4715ba1240
--- /dev/null
+++ b/python/sot_talos_balance/talos/current_controller_sim_conf.py
@@ -0,0 +1,15 @@
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+from current_controller_conf import *
+
+CURRENT_OFFSET_ITERS = 0; # Number of itertion while control is disabled to calibrate current sensors
+CURRENT_MAX = 1e6; # max motor current (security check of ControlManager)
+CTRL_MAX = 1e6; # max desired current (security check of ControlManager)
+CTRL_SATURATION = 1e6; # saturation of the control signal
+IN_OUT_GAIN = 1.; # factor to convert from a [-20.0 ; 20.0] Ampers value to the [-2048 ; 2048] 12bit DAC register
+percentage_dead_zone_compensation = NJ*[0.,]; # percentage of dead zone to compensate (used by ControlManager)
+percentage_bemf_compensation = NJ*[0.,]
+kp_current = NJ*[0.,];
+ki_current = NJ*[0.,];
diff --git a/python/sot_talos_balance/talos/force_torque_estimator_conf.py b/python/sot_talos_balance/talos/force_torque_estimator_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..a07c60fc09a46eb244abddf59537b9a85732e86f
--- /dev/null
+++ b/python/sot_talos_balance/talos/force_torque_estimator_conf.py
@@ -0,0 +1,13 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+
+CURRENT_TORQUE_ESTIMATION_TRUST = 0.0; # weight for current-base torque estimation (in [0,1]) of ForceTorqueEstimator
+SATURATION_CURRENT = 10.0; # Saturation of current sensor (used by ForceTorqueEstimator)
+DELAY_ENC = 40; # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ENC*dt)
+DELAY_ACC = 40; # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
+DELAY_GYRO = 40; # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
+DELAY_FORCE = 40; # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
+DELAY_CURRENT = 40; # estimation delay expressed relative to the timestep (i.e. delay = DELAY_ACC*dt)
diff --git a/python/sot_talos_balance/talos/joint_torque_controller_conf.py b/python/sot_talos_balance/talos/joint_torque_controller_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..48c26d019627a2373d049d48c3f025cd66593a15
--- /dev/null
+++ b/python/sot_talos_balance/talos/joint_torque_controller_conf.py
@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+import numpy as np
+
+NJ = 32;
+
+COULOMB_FRICTION_COMPENSATION_PERCENTAGE = 0.0;
+k_p_torque = np.array(NJ*[0.5,]); # torque control proportional gains
+k_d_torque = np.array(NJ*[0.0,]); # torque control derivative gains
+k_i_torque = np.array(NJ*[3.0,]); # torque control integral gains
+k_d_vel = np.array(NJ*[0.0,]); # velocity feedback gains
+k_i_vel = np.array(NJ*[0.0,]); # velocity feedback gains
+torque_integral_saturation = np.array(NJ*[0.0,]);
+poly_sign_dq = 3; # order of polynomial to approximate Coulomb friction around zero velocity
+alpha_leaking = np.array([75.,75.,75.,75.,75.,75.,
+ 75.,75.,75.,75.,75.,75.,
+ 0.0,0.0,
+ 0.0,0.0,0.0,0.0,0.0,0.0,0.0,
+ 0.0,
+ 0.0,0.0,0.0,0.0,0.0,0.0,0.0,
+ 0.0,
+ 0.0,0.0]);
+
+## PARAMETERS OF R_hip_y JOINT 0
+#k_p_torque[0] = 12.0;
+## PARAMETERS OF R_hip_r JOINT 1
+#k_p_torque[1] = 5; #15.0 # could easily go up to 20, but it's a bit less stable
+## PARAMETERS OF R_hip_p JOINT 2
+#k_p_torque[2] = 6; #with delay 30 ms
+## PARAMETERS OF R_knee JOINT 3
+#k_p_torque[3] = 10.0; # with 12 it starts vibrating at low velocity
+## PARAMETERS OF R_ankle pitch JOINT 4
+#k_p_torque[4] = 10.0; # 10 feels good, but maybe i could go higher
+## PARAMETERS OF R_ankle roll JOINT 5
+#k_p_torque[5] = 15.0; # could go higher, but it feels already good
+## PARAMETERS OF Left hip pitch JOINT 8
+#k_p_torque[8] = 6.0; # with delay 20 ms
diff --git a/python/sot_talos_balance/talos/joint_torque_controller_sim_conf.py b/python/sot_talos_balance/talos/joint_torque_controller_sim_conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..326be151cb0056ac9f097676fcb3473e4337d469
--- /dev/null
+++ b/python/sot_talos_balance/talos/joint_torque_controller_sim_conf.py
@@ -0,0 +1,39 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Mon Feb 9 13:55:16 2015
+@author: adelpret
+"""
+import numpy as np
+
+NJ = 32;
+
+COULOMB_FRICTION_COMPENSATION_PERCENTAGE = 0.0;
+k_p_torque = np.array(NJ*[0.5,]); # torque control proportional gains
+k_d_torque = np.array(NJ*[0.0,]); # torque control derivative gains
+k_i_torque = np.array(NJ*[3.0,]); # torque control integral gains
+torque_integral_saturation = np.array(NJ*[0.0,]);
+poly_sign_dq = 3; # order of polynomial to approximate Coulomb friction around zero velocity
+k_d_velocity = np.array(NJ*[0.0,]); # torque control derivative gains
+alpha_leaking = np.array([75.,75.,75.,75.,75.,75.,
+ 75.,75.,75.,75.,75.,75.,
+ 0.0,0.0,
+ 0.0,0.0,0.0,0.0,0.0,0.0,0.0,
+ 0.0,
+ 0.0,0.0,0.0,0.0,0.0,0.0,0.0,
+ 0.0,
+ 0.0,0.0]);
+
+## PARAMETERS OF R_hip_y JOINT 0
+#k_p_torque[0] = 12.0;
+## PARAMETERS OF R_hip_r JOINT 1
+#k_p_torque[1] = 5; #15.0 # could easily go up to 20, but it's a bit less stable
+## PARAMETERS OF R_hip_p JOINT 2
+#k_p_torque[2] = 6; #with delay 30 ms
+## PARAMETERS OF R_knee JOINT 3
+#k_p_torque[3] = 10.0; # with 12 it starts vibrating at low velocity
+## PARAMETERS OF R_ankle pitch JOINT 4
+#k_p_torque[4] = 10.0; # 10 feels good, but maybe i could go higher
+## PARAMETERS OF R_ankle roll JOINT 5
+#k_p_torque[5] = 15.0; # could go higher, but it feels already good
+## PARAMETERS OF Left hip pitch JOINT 8
+#k_p_torque[8] = 6.0; # with delay 20 ms