diff --git a/script/scenarios/demos/darpa_hyq_path.py b/script/scenarios/demos/darpa_hyq_path.py
index 299dc36c614a430b44cd91fc06ad225ef435a371..60f30022f032979e710df35c8d46179246a08869 100644
--- a/script/scenarios/demos/darpa_hyq_path.py
+++ b/script/scenarios/demos/darpa_hyq_path.py
@@ -28,7 +28,7 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 #~ afftool.loadObstacleModel (packageName, "darpa", "planning", r, reduceSizes=[0.05,0.,0.])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "darpa", "planning", vf,reduceSizes=[0.1,0,0])
+afftool.loadObstacleModel("hpp_environments", "multicontact/darpa", "planning", vf,reduceSizes=[0.1,0,0])
 v = vf.createViewer()
 #afftool.visualiseAffordances('Support', v, [0.25, 0.5, 0.5])
 
diff --git a/script/scenarios/demos/hyq_slalom_debris_path.py b/script/scenarios/demos/hyq_slalom_debris_path.py
index 0cba47cb2fda826782cc777f6156f58737922b78..07e8ba7aec3217c8800e4c5abe448d40aee92b63 100644
--- a/script/scenarios/demos/hyq_slalom_debris_path.py
+++ b/script/scenarios/demos/hyq_slalom_debris_path.py
@@ -52,7 +52,7 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "slalom_debris", "planning", vf,reduceSizes=[0.05,0,0])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/slalom_debris", "planning", vf,reduceSizes=[0.05,0,0])
 v = vf.createViewer(displayArrows = True)
 #afftool.visualiseAffordances('Support', v, v.color.lightBrown)
 
diff --git a/script/scenarios/demos/talos_flatGround_path.py b/script/scenarios/demos/talos_flatGround_path.py
index 0929fc3090dcbdf41d47677fc5200ed0af2ce2db..c82ed471eb812d4d996f93e661b10d13463ddc08 100644
--- a/script/scenarios/demos/talos_flatGround_path.py
+++ b/script/scenarios/demos/talos_flatGround_path.py
@@ -47,7 +47,7 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "ground", "planning", vf)
+afftool.loadObstacleModel ("hpp_environments", "multicontact/ground", "planning", vf)
 v = vf.createViewer(displayArrows = True)
 #afftool.visualiseAffordances('Support', v, v.color.lightBrown)
 
diff --git a/script/scenarios/demos/talos_navBauzil_hard_path.py b/script/scenarios/demos/talos_navBauzil_hard_path.py
index 1976e889969473d31851b20cf51081e6c8fc9c04..c0a95fa3123d5621879c2c8758ed161780a3957b 100644
--- a/script/scenarios/demos/talos_navBauzil_hard_path.py
+++ b/script/scenarios/demos/talos_navBauzil_hard_path.py
@@ -54,7 +54,7 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "floor_bauzil", "planning", vf)
+afftool.loadObstacleModel ("hpp_environments", "multicontact/floor_bauzil", "planning", vf)
 v = vf.createViewer(displayArrows = True)
 #afftool.visualiseAffordances('Support', v, v.color.lightBrown)
 v.addLandmark(v.sceneName,1)
diff --git a/script/scenarios/demos/talos_navBauzil_path.py b/script/scenarios/demos/talos_navBauzil_path.py
index 640938c94d5ab8aedbdbca30d14d6c330eed54e6..80a19f99d793d10857bc2f35289bce6b69978c5a 100644
--- a/script/scenarios/demos/talos_navBauzil_path.py
+++ b/script/scenarios/demos/talos_navBauzil_path.py
@@ -54,7 +54,7 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "floor_bauzil", "planning", vf)
+afftool.loadObstacleModel ("hpp_environments", "multicontact/floor_bauzil", "planning", vf)
 v = vf.createViewer(displayArrows = True)
 #afftool.visualiseAffordances('Support', v, v.color.lightBrown)
 v.addLandmark(v.sceneName,1)