diff --git a/bindings/python/examples/LittleDog_id.py b/bindings/python/examples/LittleDog_id.py
index 585e123a..d8edd015 100644
--- a/bindings/python/examples/LittleDog_id.py
+++ b/bindings/python/examples/LittleDog_id.py
@@ -2,25 +2,28 @@
 
 import rospkg
 from xbot2_interface import pyxbot2_interface as xbi
-from pyopensot.tasks.velocity import Postural, Cartesian, Manipulability, MinimumEffort
-from pyopensot.constraints.velocity import JointLimits, VelocityLimits
+from pyopensot.tasks.acceleration import Cartesian, CoM, DynamicFeasibility
+from pyopensot.constraints.acceleration import JointLimits, VelocityLimits
+from pyopensot.constraints.force import FrictionCone
 import pyopensot as pysot
 import numpy as np
 import rospy
 from sensor_msgs.msg import JointState
+from geometry_msgs.msg import TransformStamped, WrenchStamped
+import tf
 import subprocess
 
 # Check for franka_cartesio_condif package
 try:
     package_path = rospkg.RosPack().get_path('LittleDog')
 except:
-    print("To run this example is needed the anymal_c_simple_description package that can be download here: https://github.com/ANYbotics/anymal_c_simple_description")
+    print("To run this example is needed the anymal_c_simple_description package that can be download here: https://github.com/EnricoMingo/LittleDog")
 
 launch_path = package_path + "/launch/LittleDog.launch"
 print(launch_path)
 roslaunch = subprocess.Popen(['roslaunch', launch_path], stdout=subprocess.PIPE, shell=False)
-#rviz_file_path = os.getcwd() + "/panda_ik.rviz"
-#rviz = subprocess.Popen(['rviz',  '-d', f'{rviz_file_path}'], stdout=subprocess.PIPE, shell=False)
+rviz_file_path = os.getcwd() + "/LittleDog_id.rviz"
+rviz = subprocess.Popen(['rviz',  '-d', f'{rviz_file_path}'], stdout=subprocess.PIPE, shell=False)
 
 # Initiliaze node and wait for robot_description parameter
 rospy.init_node("LittleDog_id", disable_signals=True)
@@ -30,5 +33,126 @@
 # Get robot description parameter and initialize model interface (with Pinocchio)
 urdf = rospy.get_param('/robot_description')
 model = xbi.ModelInterface2(urdf)
+qmin, qmax = model.getJointLimits()
+dqmax = model.getVelocityLimits()
+q = [0., 0., 0., 0., 0., 0., 1.,
+     0., -0.7, 1.4, 0., -0.7, 1.4, 0., 0.7, -1.4, 0., 0.7, -1.4]
+dq = np.zeros(model.nv)
+model.setJointPosition(q)
+model.setJointVelocity(dq)
+model.update()
 
 
+
+dt = 1./1000.
+
+# Instantiate Variables: qddot and contact forces (3 per contact)
+contact_frames = ["front_left_foot_center", "front_right_foot_center", "back_left_foot_center", "back_right_foot_center"]
+variables_vec = dict()
+variables_vec["qddot"] = model.nv
+for contact_frame in contact_frames:
+    variables_vec[contact_frame] = 3
+variables = pysot.OptvarHelper(variables_vec)
+
+# Creates tasks cand constraints
+com = CoM(model, variables.getVariable("qddot"))
+com.setLambda(1.)
+com_ref, vel_ref, acc_ref = com.getReference()
+com0 = com_ref.copy()
+
+base = Cartesian("base", model, "world", "body", variables.getVariable("qddot"))
+base.setLambda(1.)
+
+contact_tasks = list()
+for contact_frame in contact_frames:
+    contact_tasks.append(Cartesian(contact_frame + "_kin", model, contact_frame, "world", variables.getVariable("qddot")))
+
+stack = 0.1*com + 0.1*(base%[3, 4, 5])
+force_variables = list()
+for i in range(len(contact_frames)):
+    stack = stack + 10.*(contact_tasks[i]%[0, 1, 2])
+    force_variables.append(variables.getVariable(contact_frames[i]))
+
+# Creates the stack.
+# Notice:  we do not need to keep track of the DynamicFeasibility constraint so it is created when added into the stack.
+# The same can be done with other constraints such as Joint Limits and Velocity Limits
+stack = pysot.AutoStack(stack) << DynamicFeasibility("floating_base_dynamics", model, variables.getVariable("qddot"), force_variables, contact_frames)
+stack = stack << JointLimits(model, variables.getVariable("qddot"), qmax, qmin, 10.*dqmax, dt)
+stack = stack << VelocityLimits(model, variables.getVariable("qddot"), dqmax, dt)
+for i in range(len(contact_frames)):
+    T = model.getPose(contact_frames[i])
+    mu = (T.linear, 0.8) # rotation is world to contact
+    stack = stack << FrictionCone(contact_frames[i], variables.getVariable(contact_frames[i]), model, mu)
+
+# Creates the solver
+solver = pysot.iHQP(stack)
+
+# ID loop: we publish also joint position, floating-base pose and contact forces
+rate = rospy.Rate(1./dt)
+pub = rospy.Publisher('joint_states', JointState, queue_size=10)
+msg = JointState()
+msg.name = model.getJointNames()[1::]
+br = tf.TransformBroadcaster()
+w_T_b = TransformStamped()
+w_T_b.header.frame_id = "world"
+w_T_b.child_frame_id = "body"
+force_msg = list()
+fpubs = list()
+for contact_frame in contact_frames:
+    force_msg.append(WrenchStamped())
+    force_msg[-1].header.frame_id = contact_frame
+    force_msg[-1].wrench.torque.x = force_msg[-1].wrench.torque.y = force_msg[-1].wrench.torque.z = 0.
+    fpubs.append(rospy.Publisher(contact_frame, WrenchStamped, queue_size=10))
+
+t = 0.
+alpha = 0.05
+while not rospy.is_shutdown():
+    # Update actual position in the model
+    model.setJointPosition(q)
+    model.setJointVelocity(dq)
+    model.update()
+
+    # Compute new reference for CoM task
+    com_ref[2] = com0[2] + alpha * np.sin(3.1415 * t)
+    com_ref[1] = com0[1] + alpha * np.cos(3.1415 * t)
+    t = t + dt
+    com.setReference(com_ref)
+
+    # Update Stack
+    stack.update()
+
+    # Solve
+    x = solver.solve()
+    ddq = variables.getVariable("qddot").getValue(x) # from variables vector we retrieve the joint accelerations
+    q = model.sum(q, dq*dt + 0.5 * ddq * dt * dt) # we use the model sum to account for the floating-base
+    dq += ddq*dt
+
+    # Publish joint states
+    msg.position = q[7::]
+    msg.header.stamp = rospy.get_rostime()
+
+    w_T_b.header.stamp = msg.header.stamp
+    w_T_b.transform.translation.x = q[0]
+    w_T_b.transform.translation.y = q[1]
+    w_T_b.transform.translation.z = q[2]
+    w_T_b.transform.rotation.x = q[3]
+    w_T_b.transform.rotation.y = q[4]
+    w_T_b.transform.rotation.z = q[5]
+    w_T_b.transform.rotation.w = q[6]
+
+    for i in range(len(contact_frames)):
+        T = model.getPose(contact_frames[i])
+        force_msg[i].header.stamp = msg.header.stamp
+        f_local = T.linear.transpose() @ variables.getVariable(contact_frames[i]).getValue(x) # here we compute the value of the contact forces in local frame from world frame
+        force_msg[i].wrench.force.x = f_local[0]
+        force_msg[i].wrench.force.y = f_local[1]
+        force_msg[i].wrench.force.z = f_local[2]
+        fpubs[i].publish(force_msg[i])
+
+    pub.publish(msg)
+    br.sendTransformMessage(w_T_b)
+
+    rate.sleep()
+
+roslaunch.kill()
+rviz.kill()
\ No newline at end of file
diff --git a/bindings/python/examples/LittleDog_id.rviz b/bindings/python/examples/LittleDog_id.rviz
new file mode 100644
index 00000000..7b6ef6b5
--- /dev/null
+++ b/bindings/python/examples/LittleDog_id.rviz
@@ -0,0 +1,312 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 746
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: /left_foot_cartesian_marker_server/update
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: true
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_left_foot_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        back_left_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        back_left_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_left_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_right_foot_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        back_right_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        back_right_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_right_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_foot_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_left_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_left_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_foot_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_right_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_right_lower_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_upper_leg:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Arrow Width: 0.20000000298023224
+      Class: rviz/WrenchStamped
+      Enabled: true
+      Force Arrow Scale: 0.07999999821186066
+      Force Color: 204; 51; 51
+      Hide Small Values: true
+      History Length: 1
+      Name: WrenchStamped
+      Queue Size: 10
+      Topic: /back_left_foot_center
+      Torque Arrow Scale: 0
+      Torque Color: 204; 204; 51
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Arrow Width: 0.20000000298023224
+      Class: rviz/WrenchStamped
+      Enabled: true
+      Force Arrow Scale: 0.07999999821186066
+      Force Color: 204; 51; 51
+      Hide Small Values: true
+      History Length: 1
+      Name: WrenchStamped
+      Queue Size: 10
+      Topic: /back_right_foot_center
+      Torque Arrow Scale: 0
+      Torque Color: 204; 204; 51
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Arrow Width: 0.20000000298023224
+      Class: rviz/WrenchStamped
+      Enabled: true
+      Force Arrow Scale: 0.07999999821186066
+      Force Color: 204; 51; 51
+      Hide Small Values: true
+      History Length: 1
+      Name: WrenchStamped
+      Queue Size: 10
+      Topic: /front_left_foot_center
+      Torque Arrow Scale: 0
+      Torque Color: 204; 204; 51
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Arrow Width: 0.20000000298023224
+      Class: rviz/WrenchStamped
+      Enabled: true
+      Force Arrow Scale: 0.07999999821186066
+      Force Color: 204; 51; 51
+      Hide Small Values: true
+      History Length: 1
+      Name: WrenchStamped
+      Queue Size: 10
+      Topic: /front_right_foot_center
+      Torque Arrow Scale: 0
+      Torque Color: 204; 204; 51
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.1156281232833862
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.022256191819906235
+        Y: -0.047653235495090485
+        Z: 0.17879575490951538
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: -0.08020128309726715
+      Target Frame: <Fixed Frame>
+      Yaw: 0.6871967315673828
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1043
+  Hide Left Dock: true
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000007380000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1848
+  X: 72
+  Y: 699
diff --git a/bindings/python/variables.hpp b/bindings/python/variables.hpp
index ace00abe..020b0779 100644
--- a/bindings/python/variables.hpp
+++ b/bindings/python/variables.hpp
@@ -79,6 +79,13 @@ class OptvarHelperWrapper
         std::shared_ptr<OptvarHelper> _optvar;
 };
 
+Eigen::VectorXd get_value(const AffineHelper& var, const Eigen::VectorXd& x)
+{
+    Eigen::VectorXd val;
+    var.getValue(x, val);
+    return val;
+}
+
 void pyAffineHelper(py::module& m, const std::string& className) {
     py::class_<AffineHelper>(m, className.c_str())
         .def(py::init<>())
@@ -94,6 +101,7 @@ void pyAffineHelper(py::module& m, const std::string& className) {
         .def("setZero", py::overload_cast<>(&AffineHelper::setZero))
         .def("setZero", py::overload_cast<int, int>(&AffineHelper::setZero))
         .def("update", &AffineHelper::update)
+        .def("getValue", get_value)
         .def("__sub__", [](const AffineHelper &a, const AffineHelper &b) { return diff(a, b); })
         .def("__add__", [](const AffineHelper &a, const AffineHelper &b) { return sum(a, b); })
         .def("__add__", [](const AffineHelper &a, const Eigen::VectorXd &v) { return sum(a, v); })