diff --git a/.clang-format b/.clang-format
index 54e2ee3c7..23cf2b63a 100644
--- a/.clang-format
+++ b/.clang-format
@@ -85,10 +85,6 @@ PenaltyBreakString: 1000
 PenaltyExcessCharacter: 150
 PenaltyReturnTypeOnItsOwnLine: 300
 PointerAlignment: Middle
-RawStringFormats:
-  - Delimiter:       pb
-    Language:        TextProto
-    BasedOnStyle:    google
 ReflowComments:  true
 SortIncludes:    true
 SortUsingDeclarations: true
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6a41914a4..4bbc7a2dc 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -71,6 +71,7 @@ jobs:
           - path: jrl-umi3218/Eigen3ToPython
           - path: jrl-umi3218/SpaceVecAlg
           - path: jrl-umi3218/sch-core
+            options: -DCMAKE_CXX_STANDARD=11
           - path: jrl-umi3218/eigen-qld
           - path: jrl-umi3218/sch-core-python
           - path: jrl-umi3218/RBDyn
diff --git a/.github/workflows/conan.yml b/.github/workflows/conan.yml
index 0f36e47a5..4741f42b8 100644
--- a/.github/workflows/conan.yml
+++ b/.github/workflows/conan.yml
@@ -3,14 +3,14 @@ name: conan packaging for Tasks
 on:
   repository_dispatch:
     types: [conan-master, conan-release]
-  push:
-    branches:
-      - '**'
-    tags:
-      - v*
-  pull_request:
-    branches:
-      - '**'
+#  push:
+#    branches:
+#      - '**'
+#    tags:
+#      - v*
+#  pull_request:
+#    branches:
+#      - '**'
 
 jobs:
   build:
diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml
index 1b540804b..d178ee4f8 100644
--- a/.github/workflows/package.yml
+++ b/.github/workflows/package.yml
@@ -14,6 +14,9 @@ on:
     - "**"
     tags:
     - v*
+  pull_request:
+    branches:
+    - "**"
 jobs:
   check-tag:
     runs-on: ubuntu-18.04
@@ -230,5 +233,5 @@ jobs:
     - name: Trigger dependents rebuild
       run: 'curl -H "Accept: application/vnd.github.everest-preview+json" -H "Authorization: token ${{ secrets.GH_PAGES_TOKEN }}" --request POST --data "{\"event_type\": \"${PACKAGE_JOB}\"}" https://api.github.com/repos/jrl-umi3218/mc_rtc/dispatches
 
-        '
+'
       if: env.PACKAGE_UPLOAD == 'true'
diff --git a/.github/workflows/sources/package.yml b/.github/workflows/sources/package.yml
index 9564c3c2c..a2bb7cc97 100644
--- a/.github/workflows/sources/package.yml
+++ b/.github/workflows/sources/package.yml
@@ -30,6 +30,9 @@ on:
       - '**'
     tags:
       - v*
+  pull_request:
+    branches:
+      - '**'
 
 jobs:
   # For a given tag vX.Y.Z, this checks:
diff --git a/README.md b/README.md
index dee842485..8bb321012 100644
--- a/README.md
+++ b/README.md
@@ -51,7 +51,7 @@ You can also choose the head mirror which will have the latest version of this p
 
 ```
 curl -1sLf \
-  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
+  'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' \
   | sudo -E bash
 ```
 
diff --git a/src/QPTasks.cpp b/src/QPTasks.cpp
index 12835485e..d1777c46e 100644
--- a/src/QPTasks.cpp
+++ b/src/QPTasks.cpp
@@ -553,7 +553,7 @@ JointsSelector JointsSelector::UnactiveJoints(
     const auto & jDofs = uad.second;
     const auto & j = mb.joint(mb.jointIndexByName(jN));
     int ji = 0;
-    for(int i = 0; i < jDofs.size(); ++i)
+    for(size_t i = 0; i < jDofs.size(); ++i)
     {
       auto dofStart = jDofs[i][0];
       if(dofStart > ji)
@@ -741,8 +741,11 @@ PostureTask::PostureTask(const std::vector<rbd::MultiBody> & mbs,
                          double stiffness,
                          double weight)
 : Task(weight), pt_(mbs[rI], q), stiffness_(stiffness), damping_(2. * std::sqrt(stiffness)), robotIndex_(rI),
-  alphaDBegin_(0), jointDatas_(), Q_(mbs[rI].nrDof(), mbs[rI].nrDof()), C_(mbs[rI].nrDof()), alphaVec_(mbs[rI].nrDof())
+  alphaDBegin_(0), jointDatas_(), Q_(mbs[rI].nrDof(), mbs[rI].nrDof()), C_(mbs[rI].nrDof()), alphaVec_(mbs[rI].nrDof()),
+  refVel_(mbs[rI].nrDof()), refAccel_(mbs[rI].nrDof())
 {
+  refVel_.setZero();
+  refAccel_.setZero();
 }
 
 void PostureTask::stiffness(double stiffness)
@@ -811,7 +814,9 @@ void PostureTask::update(const std::vector<rbd::MultiBody> & mbs,
   int deb = mb.jointPosInDof(1);
   int end = mb.nrDof() - deb;
   // joint
-  C_.segment(deb, end) = -stiffness_ * pt_.eval().segment(deb, end) + damping_ * alphaVec_.segment(deb, end);
+  C_.segment(deb, end) = -stiffness_ * pt_.eval().segment(deb, end)
+                         + damping_ * (alphaVec_.segment(deb, end) - refVel_.segment(deb, end))
+                         - refAccel_.segment(deb, end);
 
   for(const JointData & pjd : jointDatas_)
   {
diff --git a/src/Tasks/QPTasks.h b/src/Tasks/QPTasks.h
index b9d654ab7..7a05c73b9 100644
--- a/src/Tasks/QPTasks.h
+++ b/src/Tasks/QPTasks.h
@@ -523,6 +523,24 @@ class TASKS_DLLAPI PostureTask : public Task
 
   const Eigen::VectorXd & eval() const;
 
+  inline void refVel(const Eigen::VectorXd & refVel) noexcept
+  {
+    refVel_ = refVel;
+  }
+  inline const Eigen::VectorXd & refVel() const noexcept
+  {
+    return refVel_;
+  }
+  inline void refAccel(const Eigen::VectorXd & refAccel) noexcept
+  {
+    assert(refAccel.size() == refAccel_.size());
+    refAccel_ = refAccel;
+  }
+  inline const Eigen::VectorXd & refAccel() const noexcept
+  {
+    return refAccel_;
+  }
+
 private:
   struct JointData
   {
@@ -542,6 +560,7 @@ class TASKS_DLLAPI PostureTask : public Task
   Eigen::MatrixXd Q_;
   Eigen::VectorXd C_;
   Eigen::VectorXd alphaVec_;
+  Eigen::VectorXd refVel_, refAccel_;
 };
 
 class TASKS_DLLAPI PositionTask : public HighLevelTask