diff --git a/include/dynamic-graph/command-bind.h b/include/dynamic-graph/command-bind.h
index cf85a58c9975e1408c9592d012c551b1b3ade368..d28941e87e67feb4a9d0ea5624e50ad9c9fc7d1c 100644
--- a/include/dynamic-graph/command-bind.h
+++ b/include/dynamic-graph/command-bind.h
@@ -343,6 +343,338 @@ inline std::string docCommandVoid4(const std::string &doc,
 } // namespace command
 } // namespace dynamicgraph
 
+/* --- FUNCTION 5 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
+struct CommandVoid5 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &);
+
+  CommandVoid5(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID),
+                docString),
+        fptr(function) {}
+
+protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 5);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    fptr(val1, val2, val3, val4, val5);
+    return Value(); // void
+  }
+
+private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
+CommandVoid5<E, T1, T2, T3, T4, T5> *
+makeCommandVoid5(E &entity,
+                 typename CommandVoid5<E, T1, T2, T3, T4, T5>::function_t function,
+                 const std::string &docString) {
+  return new CommandVoid5<E, T1, T2, T3, T4, T5>(entity, function, docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
+CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &, const T5 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid5<E, T1, T2, T3, T4, T5>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5), docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
+CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &),
+    const std::string &docString) {
+  return new CommandVoid5<E, T1, T2, T3, T4, T5>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5), docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid5(const std::string &doc,
+                                   const std::string &type1,
+                                   const std::string &type2,
+                                   const std::string &type3,
+                                   const std::string &type4,
+                                   const std::string &type5) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Void return.\n\n");
+}
+
+} // namespace command
+} // namespace dynamicgraph
+
+/* --- FUNCTION 6 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
+struct CommandVoid6 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &, const T6 &);
+
+  CommandVoid6(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID),
+                docString),
+        fptr(function) {}
+
+protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 6);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    T6 val6 = getParameterValues()[5].value();
+    fptr(val1, val2, val3, val4, val5, val6);
+    return Value(); // void
+  }
+
+private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
+CommandVoid6<E, T1, T2, T3, T4, T5, T6> *
+makeCommandVoid6(E &entity,
+                 typename CommandVoid6<E, T1, T2, T3, T4, T5, T6>::function_t function,
+                 const std::string &docString) {
+  return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(entity, function, docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
+CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6), docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
+CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &),
+    const std::string &docString) {
+  return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6), docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid6(const std::string &doc,
+                                   const std::string &type1,
+                                   const std::string &type2,
+                                   const std::string &type3,
+                                   const std::string &type4,
+                                   const std::string &type5,
+                                   const std::string &type6) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Input:\n - A " + type6 + ".\n" + "Void return.\n\n");
+}
+
+} // namespace command
+} // namespace dynamicgraph
+
+/* --- FUNCTION 7 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
+struct CommandVoid7 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &, const T7 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &, const T6 &,
+                                          const T7 &);
+
+  CommandVoid7(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID),
+                docString),
+        fptr(function) {}
+
+protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 7);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    T6 val6 = getParameterValues()[5].value();
+    T7 val7 = getParameterValues()[6].value();
+    fptr(val1, val2, val3, val4, val5, val6, val7);
+    return Value(); // void
+  }
+
+private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
+CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *
+makeCommandVoid7(E &entity,
+                 typename CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>::function_t function,
+                 const std::string &docString) {
+  return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(entity, function, docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
+CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &, const T7 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7), docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
+CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &, const T7 &),
+    const std::string &docString) {
+  return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7), docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid7(const std::string &doc,
+                                   const std::string &type1,
+                                   const std::string &type2,
+                                   const std::string &type3,
+                                   const std::string &type4,
+                                   const std::string &type5,
+                                   const std::string &type6,
+                                   const std::string &type7) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" +
+          "Void return.\n\n");
+}
+
+} // namespace command
+} // namespace dynamicgraph
+
+/* --- FUNCTION 8 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7, typename T8>
+struct CommandVoid8 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &, const T7 &, const T8 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &, const T6 &,
+                                          const T7 &, const T8 &);
+
+  CommandVoid8(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID)(
+                    ValueHelper<T8>::TypeID),
+                docString),
+        fptr(function) {}
+
+protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 8);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    T6 val6 = getParameterValues()[5].value();
+    T7 val7 = getParameterValues()[6].value();
+    T8 val8 = getParameterValues()[7].value();
+    fptr(val1, val2, val3, val4, val5, val6, val7, val8);
+    return Value(); // void
+  }
+
+private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7, typename T8>
+CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *
+makeCommandVoid8(E &entity,
+                 typename CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>::function_t function,
+                 const std::string &docString) {
+  return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(entity, function, docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7, typename T8>
+CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &, const T7 &, const T8 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7, _8), docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7, typename T8>
+CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &, const T5 &, const T6 &, const T7 &, const T8 &),
+    const std::string &docString) {
+  return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7, _8), docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid8(const std::string &doc,
+                                   const std::string &type1,
+                                   const std::string &type2,
+                                   const std::string &type3,
+                                   const std::string &type4,
+                                   const std::string &type5,
+                                   const std::string &type6,
+                                   const std::string &type7,
+                                   const std::string &type8) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" +
+          "Input:\n - A " + type8 + ".\n" + "Void return.\n\n");
+}
+
+} // namespace command
+} // namespace dynamicgraph
+
 /* --- FUNCTION VERBOSE ----------------------------------------------------- */
 /* This bind a function void f( ostream& ) that display some results into
  * a string f( void ) that return some string results. */