diff --git a/scripts/python/simusmall.py b/scripts/python/simusmall.py
new file mode 100644
index 0000000000000000000000000000000000000000..44f0730c723080e02fffeba70f8369308b72108f
--- /dev/null
+++ b/scripts/python/simusmall.py
@@ -0,0 +1,290 @@
+#!/usr/bin/python
+
+from dynamic_graph import plug
+import dynamic_graph.sot.core as sotcore
+from dynamic_graph.sot.core.robot_simu import RobotSimu
+from dynamic_graph.sot.core.vector_constant import VectorConstant
+from dynamic_graph.sot.core.matrix_constant import MatrixConstant
+from dynamic_graph.sot.core.unary_op import RPYToMatrix
+from dynamic_graph.sot.core.derivator import Derivator_of_Vector
+from dynamic_graph.sot.dynamics.dynamic_hrp2 import DynamicHrp2
+from dynamic_graph.sot.dynamics.angle_estimator import AngleEstimator
+from dynamic_graph.sot.dynamics.waist_attitude_from_sensor \
+ import WaistPoseFromSensorAndContact
+from dynamic_graph.sot.core.feature_point6d import FeaturePoint6d
+from dynamic_graph.sot.core.feature_point6d_relative import FeaturePoint6dRelative
+from dynamic_graph.sot.core.feature_generic import FeatureGeneric
+from dynamic_graph.sot.core.feature_joint_limits import FeatureJointLimits
+from dynamic_graph.sot.core.binary_op import Compose_R_and_T
+from dynamic_graph.sot.core.task import Task
+from dynamic_graph.sot.core.constraint import Constraint
+from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
+from dynamic_graph.sot.core.sot import SOT
+
+print "Creating the small dynamic"
+
+dyn = DynamicHrp2('dyn')
+dyn2 = DynamicHrp2('dyn2')
+
+#import dynfilessmall
+dyn2.setFiles('/home/florent/devel/sot/unstable/share/hrp2_10-small/',
+ 'HRP2JRLmainSmall.wrl',
+ '/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
+ 'HRP2SpecificitiesSmall.xml',
+ '/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
+ 'HRP2LinkJointRankSmall.xml')
+dyn.setFiles('/home/florent/devel/sot/unstable/share/hrp2_10-small/',
+ 'HRP2JRLmainSmall.wrl',
+ '/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
+ 'HRP2SpecificitiesSmall.xml',
+ '/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
+ 'HRP2LinkJointRankSmall.xml')
+
+
+dyn2.parse()
+zero = VectorConstant('zero')
+zero.resize(36)
+
+plug(zero.signal('out'), dyn2.signal('position'))
+plug(zero.signal('out'), dyn2.signal('velocity'))
+plug(zero.signal('out'), dyn2.signal('acceleration'))
+
+dyn2ffposzero = VectorConstant('dyn2ffposzero')
+
+dyn2ffposzero.set((0.,0.,0.,0.,0.,0.))
+
+plug(dyn2ffposzero.signal('out'), dyn2.signal('ffposition'))
+
+dyn2.createOpPoint('0', 'right-wrist')
+dyn2.createOpPoint('lh', 'left-wrist')
+dyn2.createOpPoint('rleg', 'right-ankle')
+dyn2.createOpPoint('lleg', 'left-ankle')
+dyn2.createOpPoint('chest', 'chest')
+
+dyn2.setProperty('ComputeVelocity', 'false')
+dyn2.setProperty('ComputeCoM', 'false')
+dyn2.setProperty('ComputeAccelerationCoM', 'false')
+dyn2.setProperty('ComputeMomentum', 'false')
+dyn2.setProperty('ComputeZMP', 'false')
+dyn2.setProperty('ComputeBackwardDynamics', 'false')
+
+dyn.signal('gearRatio').value = (0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,207.69,381.54,0.,0.,219.23,231.25,266.67,250.0,145.45,350.0,0.,0.,0.,0.,0.,0.,0.,0.)
+dyn.signal('inertiaRotor').value = (0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,69.6e-7,69.6e-7,0.,0.,69.6e-7,66.0e-7,10.0e-7,66.0e-7,11.0e-7,10.0e-7,0.,0.,0.,0.,0.,0.,0.,0.)
+
+# ----------------------------------------------------
+# --- FLEX -------------------------------------------
+# ----------------------------------------------------
+
+# ------- Flex based kinematics
+flex = AngleEstimator('flex')
+flex.setFromSensor(False)
+
+plug(dyn2.signal('lleg'), flex.signal('contactEmbeddedPosition'))
+plug(dyn2.signal('chest'), flex.signal('sensorEmbeddedPosition'))
+
+attitudeSensor = RPYToMatrix('attitudeSensor')
+
+# plug attitudeSensor.out flex.sensorWorldRotation
+plug(flex.signal('waistWorldPoseRPY'), dyn.signal('ffposition'))
+
+# --- Flexibility velocity
+flexV = Derivator_of_Vector('flexV')
+plug(flex.signal('angles'), flexV.signal('in'))
+
+# --- PosFF from leg contact + sensor # DEPRECIATED
+posKF = WaistPoseFromSensorAndContact('posKF')
+plug(dyn2.signal('lleg'), posKF.signal('contact'))
+plug(dyn2.signal('chest'), posKF.signal('position'))
+posKF.setFromSensor(True)
+
+# --- DYN With true posFF
+dyn.parse()
+plug(zero.signal('out'), dyn.signal('velocity'))
+plug(zero.signal('out'), dyn.signal('acceleration'))
+plug(flex.signal('waistWorldPoseRPY'), dyn.signal('ffposition'))
+
+# ----------------------------------------------------
+# --- TASKS ------------------------------------------
+# ----------------------------------------------------
+
+# -- TASK Manip
+dyn.createOpPoint('0', 'right-wrist')
+dyn.createOpPoint('rleg', 'right-ankle')
+dyn.createOpPoint('lleg', 'left-ankle')
+
+p6 = FeaturePoint6d('p6')
+p6d = FeaturePoint6d('p6d')
+
+comp = Compose_R_and_T('comp')
+eye3 = MatrixConstant('eye3')
+I3 = ((1., 0., 0.),
+ (0., 1., 0.),
+ (0., 0., 1.))
+
+eye3.set(I3)
+plug(eye3.signal('out'), comp.signal('in1'))
+
+t = VectorConstant('t')
+# WAIST
+t.set((0., 0.095, 0.563816))
+
+# HAND
+t.set((0.25, -0.5, .85))
+plug(t.signal('out'), comp.signal('in2'))
+
+plug(comp.signal('out'), p6d.signal('position'))
+plug(dyn.signal('J0'), p6.signal('Jq'))
+plug(dyn.signal('0'), p6.signal('position'))
+p6.signal('sdes').value = p6d
+
+task = Task('task')
+task.add('p6')
+gain = GainAdaptive('gain')
+gain.setConstant(.2)
+plug(task.signal('error'), gain.signal('error'))
+plug(gain.signal('gain'), task.signal('controlGain'))
+
+R3 = ((0., 0., -1.),
+ (0., 1., 0.),
+ (1., 0., 0.))
+eye3.set(R3)
+
+p6.signal('selec').value = '000111'
+p6.frame('current')
+
+# --- COM
+dyn.setProperty('ComputeCoM', 'true')
+# dyn.setProperty ComputeVelocity true
+# dyn.setProperty ComputeMomentum true
+# dyn.setProperty ComputeZMP true
+
+featureCom = FeatureGeneric('featureCom')
+plug(dyn.signal('com'), featureCom.signal('errorIN'))
+plug(dyn.signal('Jcom'), featureCom.signal('jacobianIN'))
+# set featureCom.selec 111
+
+featureComDes = FeatureGeneric('featureComDes')
+# set featureComDes.errorIN [2](0,-0)
+featureCom.signal('sdes').value = featureComDes
+
+taskCom = Task('taskCom')
+taskCom.add('featureCom')
+
+taskCom.signal('controlGain').value = .3
+# set taskCom.controlGain 1
+
+# --- CHEST
+featureChest = FeatureGeneric('featureChest')
+featureChest.signal('jacobianIN').value = ((0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,1.,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.,1.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.))
+
+featureChest.signal('errorIN').value =(0.,0.)
+taskChest = Task('taskChest')
+taskChest.add('featureChest')
+taskChest.signal('controlGain').value = 1.
+
+# --- Task Chest for blocking the chest joints
+# new FeatureGeneric featureChest
+# set featureChest.jacobianIN [2,36]((0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0),(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0))
+# set featureChest.errorIN [2](0,0)
+# new Task taskChest
+# taskChest.add featureChest
+# set taskChest.controlGain 1
+
+# --- Task RightArm for blocking the right arm
+featureRightArm = FeatureGeneric('featureRightArm')
+featureRightArm.signal('jacobianIN').value = reduce(lambda jac, i : jac + ((22+i)*(0.,)+(1.,)+(13-i)*(0.,),), range(7), ())
+featureRightArm.signal('errorIN').value = (0.,0.,0.,0.,0.,0.,0.)
+taskRightArm = Task('taskRightArm')
+taskRightArm.add('featureRightArm')
+taskRightArm.signal('controlGain').value = 1.
+
+# --- Task LeftArm for blocking the left arm
+featureLeftArm = FeatureGeneric('featureLeftArm')
+featureLeftArm.signal('jacobianIN').value = reduce(lambda jac, i : jac + ((29+i)*(0.,)+(1.,)+(6-i)*(0.,),), range(7), ())
+featureLeftArm.signal('errorIN').value = 7*(0,)
+taskLeftArm = Task('taskLeftArm')
+taskLeftArm.add('featureLeftArm')
+taskLeftArm.signal('controlGain').value = 1
+
+# --- Joint Limits
+featureJl = FeatureJointLimits('featureJl')
+featureJl.actuate()
+plug(dyn.signal('position'), featureJl.signal('joint'))
+plug(dyn.signal('upperJl'), featureJl.signal('upperJl'))
+plug(dyn.signal('lowerJl'), featureJl.signal('lowerJl'))
+taskJl = Task('taskJl')
+taskJl.add('featureJl')
+taskJl.signal('controlGain').value = .1
+
+# --- LEGS
+featureLegs = FeatureGeneric('featureLegs')
+jacobianLegs = MatrixConstant('jacobianLegs')
+jac = 12*[36*[0.]]
+jac[0][6] = 1.
+jac[1][7] = 1.
+jac[2][8] = 1.
+jac[3][9] = 1.
+jac[4][10] = 1.
+jac[5][11] = 1.
+jac[6][12] = 1.
+jac[7][13] = 1.
+jac[8][14] = 1.
+jac[9][15] = 1.
+jac[10][16] = 1.
+jac[11][17] = 1.
+jac = tuple(map(tuple, jac))
+plug(jacobianLegs.signal('out'), featureLegs.signal('jacobianIN'))
+
+vectorLegs = VectorConstant('vectorLegs')
+vectorLegs.set(7*(0.,))
+plug(vectorLegs.signal('out'), featureLegs.signal('errorIN'))
+# set featureLegs.errorIN [12](0,0,0,0,0,0,0,0,0,0,0,0)
+taskLegs = Task('taskLegs')
+taskLegs.add('featureLegs')
+taskLegs.signal('controlGain').value = 1.
+
+# --- TWOFEET
+featureTwofeet = FeaturePoint6dRelative('featureTwofeet')
+plug(dyn.signal('Jrleg'), featureTwofeet.signal('Jq'))
+plug(dyn.signal('Jlleg'), featureTwofeet.signal('JqRef'))
+plug(dyn.signal('rleg'), featureTwofeet.signal('position'))
+plug(dyn.signal('lleg'), featureTwofeet.signal('positionRef'))
+
+taskTwofeet = Task('taskTwofeet')
+taskTwofeet.add('featureTwofeet')
+taskTwofeet.signal('controlGain').value = 0.
+
+# --- CONTACT CONSTRAINT
+legs = Constraint('legs')
+legs.addJacobian('dyn.Jlleg')
+
+# --- SOT
+sot = SOT('sot')
+sot.signal('damping').value = 1e-6
+sot.addConstraint('legs')
+sot.setNumberDofs(36)
+
+# plug dyn.inertia sot.weight
+# sot.push taskTwofeet
+# sot.push taskLegs
+# sot.push task
+# sot.push taskCom
+# sot.push taskChest
+# sot.gradient taskJl
+
+featureComDes.signal('errorIN').value = (0.004,-0.09,.6)
+
+zeroCom = VectorConstant('zeroCom')
+zeroCom.set(36*(0.,))
+
+
+dyn.createOpPoint('Waist', 'waist')
+
+OpenHRP = RobotSimu('OpenHRP')
+OpenHRP.set((0.,0.,0.,0.,0.,0.,0.,0.,-1.04720,2.09440,-1.04720,0.,0.,0.,-1.04720,2.09440,-1.04720,0.,0.0000,0.,-0.,-0.,0.17453,-0.17453,-0.17453,-0.87266,0.,-0.,0.1,0.17453,-0.17453,-0.17453,-0.87266,0.,-0.,0.1))
+
+plug(sot.signal('control'), OpenHRP.signal('control'))
+plug(OpenHRP.signal('state'), dyn.signal('position'))
+plug(OpenHRP.signal('state'), dyn2.signal('position'))
+plug(OpenHRP.signal('attitude'), posKF.signal('attitudeIN'))
+plug(OpenHRP.signal('attitude'), flex.signal('sensorWorldRotation'))