diff --git a/include/MultiContactController/MultiContactController.h b/include/MultiContactController/MultiContactController.h
index b6fd6ed..e4281ad 100644
--- a/include/MultiContactController/MultiContactController.h
+++ b/include/MultiContactController/MultiContactController.h
@@ -26,12 +26,18 @@ class PostureManager;
 struct MultiContactController : public mc_control::fsm::Controller
 {
 public:
-  /** \brief Constructor. */
+  /** \brief Constructor.
+
+      basePose in configuration allows users to set the initial pose of the robot.
+      It will be registered on datastore in this function and reflected in the reset function.
+   */
   MultiContactController(mc_rbdyn::RobotModulePtr rm, double dt, const mc_rtc::Configuration & _config);
 
   /** \brief Reset a controller.
 
       This method is called when starting the controller.
+      When MCC::ResetBasePose is in datastore, the posW of both control and real robots
+      are overwritten by it in this function.
    */
   void reset(const mc_control::ControllerResetData & resetData) override;
 
@@ -44,6 +50,9 @@ struct MultiContactController : public mc_control::fsm::Controller
   /** \brief Stop a controller.
 
       This method is called when stopping the controller.
+      When saveLastBasePose is enabled in the configuration,
+      the poseW of control robot will be saved in datastore at the end of this function
+      to use it for initialization of the following controller.
    */
   void stop() override;
 
@@ -93,7 +102,7 @@ struct MultiContactController : public mc_control::fsm::Controller
   //! Whether to enable manager update
   bool enableManagerUpdate_ = false;
 
-  //! Whether to save last base pose when stopping this controller
+  //! Whether to save last base pose when stopping this controller.
   bool saveLastBasePose_ = false;
 
 protected:
diff --git a/include/MultiContactController/states/ConfigMotionState.h b/include/MultiContactController/states/ConfigMotionState.h
index 74c36f0..9c76c06 100644
--- a/include/MultiContactController/states/ConfigMotionState.h
+++ b/include/MultiContactController/states/ConfigMotionState.h
@@ -34,8 +34,5 @@ struct ConfigMotionState : State
 
   //! Option to select whether this state should wait for finishing reference postures or not
   bool exitWhenPostureManagerFinished_ = false;
-
-  //! Option to save the last pose in datastore for the other motion
-  bool saveLastBasePose_ = false;
 };
 } // namespace MCC
diff --git a/src/states/ConfigMotionState.cpp b/src/states/ConfigMotionState.cpp
index d7dfd96..321ee35 100644
--- a/src/states/ConfigMotionState.cpp
+++ b/src/states/ConfigMotionState.cpp
@@ -118,10 +118,6 @@ void ConfigMotionState::start(mc_control::fsm::Controller & _ctl)
   {
     exitWhenPostureManagerFinished_ = static_cast<bool>(config_("configs")("exitWhenPostureManagerFinished"));
   }
-  if(config_.has("configs") && config_("configs").has("saveLastBasePose"))
-  {
-    saveLastBasePose_ = static_cast<bool>(config_("configs")("saveLastBasePose"));
-  }
 
   output("OK");
 }