diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 264c6c5712e71e1de16d5ca7166cd70ff31dc7d1..46f9dbb82d6fbbd8b82aaa9ceef8a48093eb2044 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -7,6 +7,7 @@ dynamic-graph-api.h
entity.h
factory.h
interpreter.h
+interpreter-helper.h
plugin-loader.h
pool.h
diff --git a/include/dynamic-graph/interpreter-helper.h b/include/dynamic-graph/interpreter-helper.h
new file mode 100644
index 0000000000000000000000000000000000000000..c0411543a724a7bcbf420554b7765bc3286593c1
--- /dev/null
+++ b/include/dynamic-graph/interpreter-helper.h
@@ -0,0 +1,149 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2010
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: interpreter.h
+ * Project: DYNAMIC-GRAPH
+ * Author: O. Stasse,
+ * F. Bleibel,
+ * N. Mansard
+ *
+ * Description
+ * ============
+ * \file This class provides an entry point for any interpreter
+ * willing to connect to the dynamic-graph.
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __INTERPRETER_HELPER_HH__
+#define __INTERPRETER_HELPER_HH__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* DYNAMIC-GRAPH */
+#include <dynamic-graph/signal-base.h>
+#include <dynamic-graph/exception-factory.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/dynamic-graph-api.h>
+#include <dynamic-graph/plugin-loader.h>
+
+/* --- STD --- */
+#include <string>
+#include <map>
+#include <sstream>
+
+/* --- BOOST --- */
+#include <boost/function.hpp>
+#include <boost/bind.hpp>
+
+namespace dynamicgraph {
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/*! @ingroup dgraph
+ \brief This class implements the first level interpretor
+ to control basic functionnalities of the plugins.
+
+ It provides a shell allowing to :
+ \li load plugin libraries,
+ \li create instances of plugin,
+ \li destroy the plugins,
+ \li unload the libraries,
+ \li set a signal,
+ \li get a signal,
+ \li compute a signal,
+*/
+class DYNAMICGRAPH_EXPORT InterpreterHelper
+{
+
+ public:
+ /*! \brief Default constructor
+ \par[in] dlPtr: a plugin loader to perform the actions provided by this shell.
+ */
+ InterpreterHelper( );
+
+
+ protected:
+
+ /*! \brief The plugin loader */
+ PluginLoader dlPtr;
+
+ public:
+
+ /*! \name Implements the commands.
+ @{
+ */
+ /*! \brief Instanciante an object
+ Extracts the name and the class of the object, verifies it is unique,
+ and creates the instance if this is the case.
+ */
+ void cmdNew(const std::string& className,
+ const std::string& objName,
+ std::ostream& os);
+
+ /*! \brief Destroy the object.
+ Destroy the object objName.
+ */
+ void cmdDestroy( const std::string& objName,
+ std::ostream& os );
+ /*! \brief Connect two signals.
+ Connect an input signal to an output one.
+ */
+ void cmdPlug( const std::string& obj1, const std::string & signame1,
+ const std::string& obj2, const std::string & signame2,
+ std::ostream& os );
+
+ /*! \brief Load a dynamic library which includes a plugin.
+ Extracts the name first and the directory in second from cmdArg
+ to load the dynamic library.
+ */
+ void cmdLoadPlugin( const std::string& directory,
+ const std::string& pluginName,
+ std::ostream& os );
+
+ /*! \brief Unload a dynamic library which includes a plugin.
+ Extracts the name to unload the dynamic library.
+ */
+ void cmdUnloadPlugin( const std::string& pluginName,
+ std::ostream& os );
+
+ /*! \brief Set a signal <obj.signal> to a value <value>
+ with cmdArg = "<obj.signal> <value>"
+ */
+ void cmdSetSignal( const std::string& objname,
+ const std::string& signame,
+ const std::string& cmdArg,
+ std::ostream& os);
+
+ /*! \brief Display the value of the signal <obj.signal>
+ with cmdArg = "<obj.signal>"
+ */
+ void cmdGetSignal( const std::string& objname,
+ const std::string& signame,
+ std::ostream& os);
+
+ /*! \brief Compute the value of the signal <obj.signal> at time <time>
+ with cmdArg = "<obj.signal> <time>"
+ */
+ void cmdComputeSignal( const std::string& objname,
+ const std::string& signame,
+ const int &time,
+ std::ostream& os );
+
+};
+
+
+} // namespace dynamicgraph
+
+
+
+#endif /* #ifndef */
+
+
+
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index afefdb4bf0f32db403e0dafa4307060ab66846b6..076776c84f58e2caae1730380a6dfecbcd745ee6 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -21,6 +21,7 @@ ADD_LIBRARY(${LIBRARY_NAME}
dgraph/entity.cpp
dgraph/factory.cpp
dgraph/interpreter.cpp
+ dgraph/interpreter-helper.cpp
dgraph/plugin-loader.cpp
dgraph/pool.cpp
diff --git a/src/dgraph/interpreter-helper.cpp b/src/dgraph/interpreter-helper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c0135f49d2bbf232aa676937927bd631e643354e
--- /dev/null
+++ b/src/dgraph/interpreter-helper.cpp
@@ -0,0 +1,187 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: interpretor.cpp
+ * Project: DYNAMIC-GRAPH
+ * Author: François Bleibel, Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* DYNAMIC-GRAPH */
+#include <dynamic-graph/interpreter-helper.h>
+#include <dynamic-graph/plugin-loader.h>
+#include <dynamic-graph/debug.h>
+
+/* --- STD --- */
+using namespace std;
+using namespace dynamicgraph;
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+InterpreterHelper::InterpreterHelper()
+{
+}
+
+
+/* --------------------------------------------------------------------- */
+/* --- NEW ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+#include <dynamic-graph/factory.h>
+using namespace std;
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal-base.h>
+
+void InterpreterHelper::
+cmdPlug( const std::string& obj1, const std::string & signame1,
+ const std::string& obj2, const std::string & signame2,
+ std::ostream& os )
+{
+ dgDEBUG(20) << "Get Ent1 <"<<obj1<<"> ."<<endl;
+ Entity& ent1 = g_pool.getEntity(obj1);
+ dgDEBUG(20) << "Get Sig1 <"<<signame1<<"> ."<<endl;
+ SignalBase<int> &sig1 = ent1.getSignal(signame1);
+
+ dgDEBUG(20) << "Get Ent2 <"<<obj2<<"> ."<<endl;
+ Entity& ent2 = g_pool.getEntity(obj2);
+ dgDEBUG(20) << "Get Sig2 <"<<signame2<<"> ."<<endl;
+ SignalBase<int> &sig2 = ent2.getSignal(signame2);
+
+ dgDEBUG(25) << "Plug..."<<endl;
+ sig2.plug(&sig1);
+}
+
+void InterpreterHelper::
+cmdNew( const std::string& className,
+ const std::string& objName,
+ std::ostream& os )
+{
+ dgDEBUG(15) << "New <" << className<<"> requested."<<endl;
+ if( g_factory.existEntity( className ) )
+ {
+ dgDEBUG(15) << "New entity<"<<className<<"> " <<objName<<std::endl;
+ g_factory.newEntity(className,objName);
+ }
+ else os << " !! Class <" << className << "> does not exist."<<endl;
+}
+
+
+void InterpreterHelper::
+cmdDestroy( const std::string& objName,
+ std::ostream& os)
+{
+
+ dgDEBUG(15) << "Destroy <" << objName <<"> requested."<<endl;
+ delete &( g_pool.getEntity( objName ) );
+
+}
+
+void InterpreterHelper::
+cmdLoadPlugin( const std::string& directory,
+ const std::string& pluginName,
+ std::ostream& os )
+{
+
+ if( directory.length() != 0 ) dlPtr.setDirectory( directory );
+ dlPtr.addPlugin( pluginName );
+
+ try{
+ dgDEBUG(15) << "Try to load " << pluginName<< endl;
+ dlPtr.loadPlugins();
+ }catch( ExceptionAbstract& e ) { dgDEBUG(5) << e << endl; throw e; }
+}
+
+void InterpreterHelper::
+cmdUnloadPlugin( const std::string& pluginName,
+ std::ostream& os )
+{
+
+ dgDEBUGIN(15);
+ try{
+ dgDEBUG(25) << "Try short name " << pluginName << endl;
+ const std::string& fullname = dlPtr.searchPlugin(pluginName);
+ dgDEBUG(25) << "Full name " << fullname << endl;
+ dlPtr.unloadPlugin(fullname);
+ }
+ catch(...)
+ {
+ dgDEBUG(25) << "Full name " << pluginName << endl;
+ dlPtr.unloadPlugin(pluginName);
+ }
+
+ dgDEBUGOUT(15);
+}
+
+void InterpreterHelper::
+cmdSetSignal( const std::string& objname,
+ const std::string& signame,
+ const std::string& value,
+ std::ostream& os )
+{
+ dgDEBUGIN(15);
+
+ Entity& obj = g_pool.getEntity(objname);
+ SignalBase<int>& sig = obj.getSignal( signame );
+
+ istringstream cmdArg(value);
+ sig.set( cmdArg );
+
+ dgDEBUGOUT(15);
+
+}
+
+void InterpreterHelper::
+cmdGetSignal( const std::string& objname,
+ const std::string& signame,
+ std::ostream& os )
+{
+ dgDEBUGIN(15);
+
+ Entity& obj = g_pool.getEntity(objname);
+ SignalBase<int>& sig = obj.getSignal( signame );
+
+ os << signame << " = "; sig.get( os );
+
+ dgDEBUGOUT(15);
+
+}
+
+void InterpreterHelper::
+cmdComputeSignal( const std::string& objname,
+ const std::string& signame,
+ const int &time,
+ std::ostream& os )
+{
+ dgDEBUGIN(15);
+
+ Entity& obj = g_pool.getEntity(objname);
+ SignalBase<int>& sig = obj.getSignal( signame );
+
+ sig.recompute( time );
+
+ dgDEBUGOUT(15);
+
+}
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+