diff --git a/script/scenarios/demos/hyq_slalom_debris_path.py b/script/scenarios/demos/hyq_slalom_debris_path.py
index 07e8ba7aec3217c8800e4c5abe448d40aee92b63..fc36001905b3b1b9695c5d38c69c292cc8861444 100644
--- a/script/scenarios/demos/hyq_slalom_debris_path.py
+++ b/script/scenarios/demos/hyq_slalom_debris_path.py
@@ -39,7 +39,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
 ps.setParameter("DynamicPlanner/sizeFootX",0.01)
 ps.setParameter("DynamicPlanner/sizeFootY",0.01)
 ps.setParameter("DynamicPlanner/friction",0.5)
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 # sample only configuration with null velocity and acceleration :
 ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
 ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
diff --git a/script/scenarios/demos/talos_navBauzil_hard_path.py b/script/scenarios/demos/talos_navBauzil_hard_path.py
index b03476a986f114f8d5a543bd73ae219e6340d4c4..421e6e832fa7bef68c149c2168a796156b4c6330 100644
--- a/script/scenarios/demos/talos_navBauzil_hard_path.py
+++ b/script/scenarios/demos/talos_navBauzil_hard_path.py
@@ -37,7 +37,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
diff --git a/script/scenarios/demos/talos_navBauzil_path.py b/script/scenarios/demos/talos_navBauzil_path.py
index 7d80c17bd2e33a47428ddd12a588af0a5ca2fe14..97a7b4137b97a1f1d7a83a847f7a40d46665327d 100644
--- a/script/scenarios/demos/talos_navBauzil_path.py
+++ b/script/scenarios/demos/talos_navBauzil_path.py
@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
diff --git a/script/scenarios/demos/talos_stairs10_path.py b/script/scenarios/demos/talos_stairs10_path.py
index 27d5e4f87b724106e319967bde8b83c58a65578e..8918ca8102939d79fca36af346d17de1ca651df3 100644
--- a/script/scenarios/demos/talos_stairs10_path.py
+++ b/script/scenarios/demos/talos_stairs10_path.py
@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",False)
+ps.setParameter("Kinodynamic/forceYawOrientation",False)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
diff --git a/script/scenarios/memmo/talos_circle_oriented_path.py b/script/scenarios/memmo/talos_circle_oriented_path.py
index 4a3b2229b34b2412ee0ad20a92401fc2fb4cb85d..eb03e0b0dca77c488460c361897b050e8f776686 100644
--- a/script/scenarios/memmo/talos_circle_oriented_path.py
+++ b/script/scenarios/memmo/talos_circle_oriented_path.py
@@ -40,7 +40,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",0.5)
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 # sample only configuration with null velocity and acceleration :
 ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
 
diff --git a/script/scenarios/memmo/talos_stairs10_random_path.py b/script/scenarios/memmo/talos_stairs10_random_path.py
index 80af16cde60456086890a2d1556931039c8dab27..f403c52327bd368fa024044ee525ab97a02bc573 100644
--- a/script/scenarios/memmo/talos_stairs10_random_path.py
+++ b/script/scenarios/memmo/talos_stairs10_random_path.py
@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)