These sketches present our current progress in compliant control of humanoid robots at Willow Garage. The idea is to combine torque-based compliant behaviors for Cartesian and joint space tasks. This approach enables to respond quickly to contact, be safe and use effectively the dynamics of the mechanism. The focus of this research is more on the skill than on the single low level control process. We provide infrastructure to bridge the gap between the skill developer (who cares about the mathematics of movement and robot dynamics) and the skill user (who cares about motion / high level planning and perception).