diff --git a/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h b/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h
index 24f8856..e84e140 100644
--- a/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h
+++ b/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h
@@ -133,9 +133,8 @@ class HumanIK
     {
         std::shared_ptr<BipedalLocomotion::IK::SO3Task> task;
         int nodeNumber;
-        manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link, set through config
-                                // file
-        manif::SO3d IMU_R_link_init; // Rotation matrix from the IMU to related link, set through config
+        manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link
+        manif::SO3d IMU_R_link_init; // Initial value of the rotation matrix from the IMU to related link, set through config
                                      // file
         manif::SO3d calibrationMatrix = manif::SO3d::Identity(); // Initialization (to Identity) of
                                                                  // Rotation matrix from the World
@@ -153,8 +152,8 @@ class HumanIK
     struct GravityTaskStruct
     {
         std::shared_ptr<BipedalLocomotion::IK::GravityTask> task;
-        manif::SO3d IMU_R_link;
-        manif::SO3d IMU_R_link_init; // Rotation matrix from the IMU to related link, set through config
+        manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link
+        manif::SO3d IMU_R_link_init; // Initial value of the rotation matrix from the IMU to related link, set through config
                                      // file
         manif::SO3d calibrationMatrix = manif::SO3d::Identity();
         Eigen::Vector2d weight;