diff --git a/README.md b/README.md
index 206bb11..927cc37 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,71 @@
-# biomechanical-analysis-framework
\ No newline at end of file
+# biomechanical-analysis-framework
+
+The biomechanical-analysis-framework projects contains a set of C++ libraries that can be used to estimate a human kinematics and dynamics quantities.
+
+## Dependencies
+
+The dependencies can be installed in two ways; the first one is via `conda` creating a conda environment running the following steps.
+ 
+* Clone the repo:
+
+   ```
+   git clone https://github.com/ami-iit/biomechanical-analysis-framework
+   ```
+* Create the conda environment from file
+  ```
+   cd biomechanical-analysis-framework
+   conda env create -n <conda-environment-name> --file ci_env.yml
+   ```
+The second option is to install the dependencies via [robotology-superbuild](https://github.com/robotology/robotology-superbuild/blob/master/README.md), making sure to enable the following CMake options:
+   - `ROBOTOLOGY_ENABLE_DYNAMICS`;
+   - `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS`;
+   - `ROBOTOLOGY_ENABLE_ICUB_HEAD`;
+
+## Install
+
+Clone the repo (if not already done to install the dependencies) and create a `build` directory
+
+```
+git clone https://github.com/ami-iit/biomechanical-analysis-framework
+cd biomechanical-analysis-framework
+mkdir build
+cd build
+```
+
+### Linux/macOS
+
+From the build directory, configure the CMake project and install it in the `build/install` directory:
+
+```bash
+
+cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" ..
+make
+make install
+```
+
+Once the installation is completed, append the following lines to your `.bashrc`:
+```bash
+BAF_INSTALL_DIR=<directory-where-you-downloaded-component_ifeel>element_wearable_sw/build/install
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BAF_INSTALL_DIR}/lib
+export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:${BAF_INSTALL_DIR}
+```
+
+>:warning: If on macOS, replace LD_LIBRARY_PATH with DYLD_LIBRARY_PATH in your `.bash_profile`
+
+
+### Windows
+
+From the build directory, configure the CMake project and install it in the `build/install` directory as it follows:
+
+```bash
+cmake -G"Visual Studio 17 2022" .. 
+cmake -DCMAKE_BUILD_TYPE="Release" -DCMAKE_INSTALL_PREFIX="./install" .
+cmake --build . --config Release --target INSTALL
+```
+
+>:warning: Change Visual Studio 17 2022 according to your installed version.
+
+Once the installation is completed, update the following environment variables:
+
+- `PATH`  
+Add `<directory-where-you-downloaded-BAF>/build/install/bin`
diff --git a/src/ID/CMakeLists.txt b/src/ID/CMakeLists.txt
index eeec9f3..a1984f7 100644
--- a/src/ID/CMakeLists.txt
+++ b/src/ID/CMakeLists.txt
@@ -1,8 +1,16 @@
+include(FetchContent)
+
+FetchContent_Declare(
+  ResolveRoboticsURICpp
+  GIT_REPOSITORY https://github.com/ami-iit/resolve-robotics-uri-cpp
+  GIT_TAG        v0.0.2
+)
+FetchContent_MakeAvailable(ResolveRoboticsURICpp)
 
 add_biomechanical_analysis_library(
     NAME                   ID
     PUBLIC_HEADERS         include/BiomechanicalAnalysis/ID/InverseDynamics.h
     SOURCES                src/InverseDynamics.cpp
     PUBLIC_LINK_LIBRARIES  iDynTree::idyntree-estimation iDynTree::idyntree-high-level BipedalLocomotion::ParametersHandler
-    PRIVATE_LINK_LIBRARIES BiomechanicalAnalysis::Logging
+    PRIVATE_LINK_LIBRARIES BiomechanicalAnalysis::Logging ResolveRoboticsURICpp::ResolveRoboticsURICpp
     SUBDIRECTORIES         tests)
diff --git a/src/ID/include/BiomechanicalAnalysis/ID/InverseDynamics.h b/src/ID/include/BiomechanicalAnalysis/ID/InverseDynamics.h
index 30a94e6..aa9bdc0 100644
--- a/src/ID/include/BiomechanicalAnalysis/ID/InverseDynamics.h
+++ b/src/ID/include/BiomechanicalAnalysis/ID/InverseDynamics.h
@@ -163,6 +163,8 @@ class HumanID
      */
     iDynTree::VectorDynSize getJointTorques();
 
+    void getJointTorques(Eigen::Ref<Eigen::VectorXd> jointTorques);
+
     /**
      * @brief Function to get the list of the joints
      * @return vector of joint names
diff --git a/src/ID/src/InverseDynamics.cpp b/src/ID/src/InverseDynamics.cpp
index b217462..3eeb900 100644
--- a/src/ID/src/InverseDynamics.cpp
+++ b/src/ID/src/InverseDynamics.cpp
@@ -1,5 +1,7 @@
 #include <BiomechanicalAnalysis/ID/InverseDynamics.h>
 #include <BiomechanicalAnalysis/Logging/Logger.h>
+#include <ResolveRoboticsURICpp.h>
+#include <iDynTree/EigenHelpers.h>
 #include <iDynTree/ModelLoader.h>
 
 using namespace BiomechanicalAnalysis::ID;
@@ -33,8 +35,16 @@ bool HumanID::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandle
 
     // Check if the model path is provided and load the model if present, otherwise use the kinDyn object
     iDynTree::ModelLoader loader;
-    if (ptr->getParameter("modelPath", m_modelPath))
+    std::string urdfModel;
+    if (ptr->getParameter("urdfModel", urdfModel))
     {
+        std::optional<std::string> urdfOpt = ResolveRoboticsURICpp::resolveRoboticsURI(urdfModel);
+        if (!urdfOpt.has_value())
+        {
+            BiomechanicalAnalysis::log()->error("Cannot resolve the URDF file");
+            return false;
+        }
+        m_modelPath = urdfOpt.value();
         std::vector<std::string> jointsList;
 
         // Retrieve the joints list if available
@@ -72,8 +82,8 @@ bool HumanID::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandle
         m_useFullModel = true;
     } else
     {
-        // Warning if 'modelPath' parameter couldn't be retrieved, use the default model
-        BiomechanicalAnalysis::log()->warn("{} Error getting the modelPath parameter, using the default model.", logPrefix);
+        // Warning if 'urdfModel' parameter couldn't be retrieved, use the default model
+        BiomechanicalAnalysis::log()->warn("{} Error getting the 'urdfModel' parameter, using the default model.", logPrefix);
 
         // Set m_useFullModel to false and m_kinDynFullModel to m_kinDyn
         m_useFullModel = false;
@@ -185,6 +195,13 @@ bool HumanID::updateExtWrenchesMeasurements(const std::unordered_map<std::string
             
             // Compute the wrench in the output frame's transformed coordinate system
             m_wrenchSources[i].wrench = m_wrenchSources[i].outputFrameTransform * wrenches.at(m_wrenchSources[i].outputFrame);
+            iDynTree::Wrench wrenchMeas = m_wrenchSources[i].outputFrameTransform * wrenches.at(m_wrenchSources[i].outputFrame);
+            iDynTree::LinkIndex linkIndex = m_extWrenchesEstimator.berdyHelper.model().getLinkIndex(m_wrenchSources[i].outputFrame);
+            if (linkIndex == iDynTree::LINK_INVALID_INDEX)
+            {
+                BiomechanicalAnalysis::log()->error("{} Link {} not found.", logPrefix, m_wrenchSources[i].outputFrame);
+                return false;
+            }
 
             // Determine the range of indices in the measurement vector for this sensor
             iDynTree::IndexRange sensorRange
@@ -315,6 +332,17 @@ iDynTree::VectorDynSize HumanID::getJointTorques()
     return m_jointTorquesHelper.estimatedJointTorques;
 }
 
+void HumanID::getJointTorques(Eigen::Ref<Eigen::VectorXd> jointTorques)
+{
+    if (jointTorques.size() != m_kinDynFullModel->model().getNrOfDOFs())
+    {
+        BiomechanicalAnalysis::log()->error("[HumanID::getJointTorques] The size of the input vector "
+                                            "is different from the number of DOFs of the model.");
+        return;
+    }
+    jointTorques = iDynTree::toEigen(m_jointTorquesHelper.estimatedJointTorques);
+}
+
 std::vector<std::string> HumanID::getJointsList()
 {
     std::vector<std::string> jointNames;
diff --git a/src/IK/src/InverseKinematics.cpp b/src/IK/src/InverseKinematics.cpp
index 0ec48a7..e079634 100644
--- a/src/IK/src/InverseKinematics.cpp
+++ b/src/IK/src/InverseKinematics.cpp
@@ -9,6 +9,13 @@ using namespace BipedalLocomotion::ContinuousDynamicalSystem;
 using namespace BipedalLocomotion::Conversions;
 using namespace std::chrono_literals;
 
+constexpr size_t WRENCH_FORCE_X = 0;
+constexpr size_t WRENCH_FORCE_Y = 1;
+constexpr size_t WRENCH_FORCE_Z = 2;
+constexpr size_t WRENCH_TORQUE_X = 3;
+constexpr size_t WRENCH_TORQUE_Y = 4;
+constexpr size_t WRENCH_TORQUE_Z = 5;
+
 bool HumanIK::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler,
                          std::shared_ptr<iDynTree::KinDynComputations> kinDyn)
 {
@@ -203,7 +210,7 @@ bool HumanIK::updateFloorContactTask(const int node, const double verticalForce)
     // check if the node number is valid
     if (m_FloorContactTasks.find(node) == m_FloorContactTasks.end())
     {
-        BiomechanicalAnalysis::log()->error("[HumanIK::setNodeSetPoint] Invalid node number.");
+        BiomechanicalAnalysis::log()->error("[HumanIK::updateFloorContactTask] Invalid node number.");
         return false;
     }
 
@@ -284,7 +291,7 @@ bool HumanIK::updateFloorContactTasks(const std::unordered_map<int, Eigen::Matri
 {
     for (const auto& [node, data] : wrenchMap)
     {
-        if (!updateFloorContactTask(node, data(5)))
+        if (!updateFloorContactTask(node, data(WRENCH_FORCE_Z)))
         {
             BiomechanicalAnalysis::log()->error("[HumanIK::updateFloorContactTasks] Error in updating "
                                                 "the floor contact task of node {}",