diff --git a/CMakeLists.txt b/CMakeLists.txt
index 55c7f12993278f8c8c6709f4859a9c4b1bc61b57..3ec5802cfb60c8541e4fe40d42725a1564a31466 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,7 +21,7 @@ INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
 
-SET(PROJECT_NAME sot-dynamic)
+SET(PROJECT_NAME sot-dynamic-pinocchio)
 
 SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
 SET(PROJECT_URL "https://github.com/proyan/sot-dynamic/tree/topic/sot-pinocchio")
diff --git a/cmake b/cmake
index 83d3fa76f5196bc667e516c590ae6fd297027050..54177e44a1440222184865f1449c40b708eeaaa4 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 83d3fa76f5196bc667e516c590ae6fd297027050
+Subproject commit 54177e44a1440222184865f1449c40b708eeaaa4
diff --git a/include/sot-dynamic/angle-estimator.h b/include/sot-dynamic-pinocchio/angle-estimator.h
similarity index 100%
rename from include/sot-dynamic/angle-estimator.h
rename to include/sot-dynamic-pinocchio/angle-estimator.h
diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
similarity index 97%
rename from include/sot-dynamic/dynamic.h
rename to include/sot-dynamic-pinocchio/dynamic-pinocchio.h
index 6e0a778648d90107526166d6b4d1cd5f467f8635..2a064559bab7e7774fbc19fa9fefbd9d1b952248 100644
--- a/include/sot-dynamic/dynamic.h
+++ b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
@@ -18,8 +18,8 @@
  * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#ifndef __SOT_DYNAMIC_H__
-#define __SOT_DYNAMIC_H__
+#ifndef __SOT_DYNAMIC_PINOCCHIO_H__
+#define __SOT_DYNAMIC_PINOCCHIO_H__
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
@@ -86,7 +86,7 @@ namespace dynamicgraph {
       by the dynamicsJRLJapan library to make it accessible in the stack of tasks.
       The robot is described by a VRML file.
     */
-class SOTDYNAMIC_EXPORT Dynamic
+class SOTDYNAMIC_EXPORT DynamicPinocchio
  :public dg::Entity {
   friend class sot::command::SetFile;
   friend class sot::command::CreateOpPoint;
@@ -167,8 +167,8 @@ class SOTDYNAMIC_EXPORT Dynamic
 
     public:
   /* --- CONSTRUCTOR --- */
-  Dynamic( const std::string& name);
-  virtual ~Dynamic( void );
+  DynamicPinocchio( const std::string& name);
+  virtual ~DynamicPinocchio( void );
 
 
   /* --- MODEL CREATION --- */
@@ -260,4 +260,4 @@ class SOTDYNAMIC_EXPORT Dynamic
 
 
 
-#endif // #ifndef __SOT_DYNAMIC_H__
+#endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__
diff --git a/include/sot-dynamic/force-compensation.h b/include/sot-dynamic-pinocchio/force-compensation.h
similarity index 100%
rename from include/sot-dynamic/force-compensation.h
rename to include/sot-dynamic-pinocchio/force-compensation.h
diff --git a/include/sot-dynamic/integrator-force-exact.h b/include/sot-dynamic-pinocchio/integrator-force-exact.h
similarity index 100%
rename from include/sot-dynamic/integrator-force-exact.h
rename to include/sot-dynamic-pinocchio/integrator-force-exact.h
diff --git a/include/sot-dynamic/integrator-force-rk4.h b/include/sot-dynamic-pinocchio/integrator-force-rk4.h
similarity index 100%
rename from include/sot-dynamic/integrator-force-rk4.h
rename to include/sot-dynamic-pinocchio/integrator-force-rk4.h
diff --git a/include/sot-dynamic/integrator-force.h b/include/sot-dynamic-pinocchio/integrator-force.h
similarity index 100%
rename from include/sot-dynamic/integrator-force.h
rename to include/sot-dynamic-pinocchio/integrator-force.h
diff --git a/include/sot-dynamic/mass-apparent.h b/include/sot-dynamic-pinocchio/mass-apparent.h
similarity index 100%
rename from include/sot-dynamic/mass-apparent.h
rename to include/sot-dynamic-pinocchio/mass-apparent.h
diff --git a/include/sot-dynamic/matrix-inertia.h b/include/sot-dynamic-pinocchio/matrix-inertia.h
similarity index 100%
rename from include/sot-dynamic/matrix-inertia.h
rename to include/sot-dynamic-pinocchio/matrix-inertia.h
diff --git a/include/sot-dynamic/waist-attitude-from-sensor.h b/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
similarity index 100%
rename from include/sot-dynamic/waist-attitude-from-sensor.h
rename to include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
diff --git a/include/sot-dynamic/zmpreffromcom.h b/include/sot-dynamic-pinocchio/zmpreffromcom.h
similarity index 100%
rename from include/sot-dynamic/zmpreffromcom.h
rename to include/sot-dynamic-pinocchio/zmpreffromcom.h
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 0184e4eaf67f8cde77364d9408c2933674d7fd04..29d2d921410d870134e05af589069f6d30ab529f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,18 +1,18 @@
 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
 #                 Florent Lamiraux (CNRS/LAAS)
 #
-# This file is part of sot-dynamic.
-# sot-dynamic is free software: you can redistribute it and/or
+# This file is part of sot-dynamic-pinocchio.
+# sot-dynamic-pinocchio is free software: you can redistribute it and/or
 # modify it under the terms of the GNU Lesser General Public License
 # as published by the Free Software Foundation, either version 3 of
 # the License, or (at your option) any later version.
 #
-# sot-dynamic is distributed in the hope that it will be useful, but
+# sot-dynamic-pinocchio is distributed in the hope that it will be useful, but
 # WITHOUT ANY WARRANTY; without even the implied warranty of
 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 # General Lesser Public License for more details.  You should have
 # received a copy of the GNU Lesser General Public License along with
-# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
+# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
 
 INCLUDE(../custom_cmake/python.cmake)
 INCLUDE(../cmake/python.cmake)
@@ -56,12 +56,12 @@ FOREACH(lib ${plugins})
 
   SOT_DYNAMIC_PYTHON_MODULE("sot/dynamics/${PYTHON_LIBRARY_NAME}"
     ${lib}
-    sot-dynamics-${PYTHON_LIBRARY_NAME}-wrap
+    sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
     )
 ENDFOREACH(lib)
 
 # Main Library
-ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic.cpp)
+ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic-pinocchio.cpp)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pinocchio)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} sot-core)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph)
diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index 9dcfc1d4b75a7f8da3812b85ef402da94d428775..8c505d8012de6ba9066ba71cb132f985de88c6cb 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/angle-estimator.h>
+#include <sot-dynamic-pinocchio/angle-estimator.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 #include <dynamic-graph/command.h>
diff --git a/src/dynamic-command.h b/src/dynamic-command.h
index ae5c3f2e718cea396445aeee6f4c82b1020f2ce6..864dfb8a31c07c3cb0c7e395dd9a0a31cb54fa20 100644
--- a/src/dynamic-command.h
+++ b/src/dynamic-command.h
@@ -41,14 +41,14 @@ namespace dynamicgraph { namespace sot {
       /// Create command and store it in Entity
       /// \param entity instance of Entity owning this command
       /// \param docstring documentation of the command
-      DisplayModel(Dynamic& entity, const std::string& docstring) :
+      DisplayModel(DynamicPinocchio& entity, const std::string& docstring) :
 	Command(entity, std::vector<Value::Type>(),
 		docstring)
       {
       }
       virtual Value doExecute()
       {
-	Dynamic& robot = static_cast<Dynamic&>(owner());
+	DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
 	robot.displayModel();
 	return Value();
       }
@@ -64,14 +64,14 @@ namespace dynamicgraph { namespace sot {
       /// Create command and store it in Entity
       /// \param entity instance of Entity owning this command
       /// \param docstring documentation of the command
-      GetDimension(Dynamic& entity, const std::string& docstring) :
+      GetDimension(DynamicPinocchio& entity, const std::string& docstring) :
 	Command(entity, std::vector<Value::Type>(),
 		docstring)
       {
       }
       virtual Value doExecute()
       {
-	Dynamic& robot = static_cast<Dynamic&>(owner());
+	DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
 	unsigned int dimension = robot.m_model->nv;
 	return Value(dimension);
       }
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index da689e10e5bd112015c23b28d3ef90a62e03047d..f05c72cd47a3886ca92483edbb276495223ad569 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 #include <dynamic-graph/factory.h>
 
 using namespace dynamicgraph;
@@ -28,10 +28,10 @@ extern "C" {
   ::dynamicgraph::Entity*						
   EntityMaker_Dynamic(const std::string& objname)			
   {									
-    return new Dynamic (objname);					
+    return new DynamicPinocchio (objname);					
   }									
   ::dynamicgraph::EntityRegisterer					
-  reg_Dynamic ("Dynamic",						
+  reg_Dynamic ("DynamicPinocchio",						
 	       &EntityMaker_Dynamic);				
 }
 //DYNAMICGRAPH_FACTORY_DYNAMIC_PLUGIN(Dynamic,"Dynamic");
diff --git a/src/dynamic_graph/sot/dynamics/__init__.py b/src/dynamic_graph/sot/dynamics_pinocchio/__init__.py
similarity index 100%
rename from src/dynamic_graph/sot/dynamics/__init__.py
rename to src/dynamic_graph/sot/dynamics_pinocchio/__init__.py
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
similarity index 98%
rename from src/dynamic_graph/sot/dynamics/humanoid_robot.py
rename to src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
index fd72aa67de3c62b073ff18f1acdc3c45c70a6c91..a38704ed76be0fd35e1eabaf0e04e316f352c80f 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
@@ -22,8 +22,8 @@ from dynamic_graph.sot.core import OpPointModifier
 from dynamic_graph.sot.core.derivator import Derivator_of_Vector
 from dynamic_graph.sot.core import RobotSimu
 
-from dynamic_graph.sot.dynamics.parser import Parser
-from dynamic_graph.sot.dynamics import AngleEstimator
+from dynamic_graph.sot.dynamics_pinocchio.parser import Parser
+from dynamic_graph.sot.dynamics_pinocchio import AngleEstimator
 
 from dynamic_graph import plug
 
@@ -156,7 +156,7 @@ class AbstractHumanoidRobot (object):
         """
         Load a model from a kxml file and return the parsed model.
         This uses the Python parser class implement in
-        dynamic_graph.sot.dynamics.parser.
+        dynamic_graph.sot.dynamics_pinocchio.parser.
 
         kxml is an extensible file format used by KineoWorks to store
         both the robot mesh and its kinematic chain.
diff --git a/src/dynamic_graph/sot/dynamics/parser.py b/src/dynamic_graph/sot/dynamics_pinocchio/parser.py
similarity index 99%
rename from src/dynamic_graph/sot/dynamics/parser.py
rename to src/dynamic_graph/sot/dynamics_pinocchio/parser.py
index 0faad54e95d97672494bff8b84c58b43f5370fa2..0368dff0c225978da7834419e2423c77e3e1af9d 100755
--- a/src/dynamic_graph/sot/dynamics/parser.py
+++ b/src/dynamic_graph/sot/dynamics_pinocchio/parser.py
@@ -7,7 +7,7 @@
 #
 
 import xml.dom.minidom as dom
-from dynamic_graph.sot.dynamics.dynamic import Dynamic
+from dynamic_graph.sot.dynamics_pinocchio.dynamic import Dynamic
 from dynamic_graph.sot.tools.se3 import SE3, R3, SO3
 
 class Parser (object):
diff --git a/src/dynamic_graph/sot/dynamics/tools.py b/src/dynamic_graph/sot/dynamics_pinocchio/tools.py
similarity index 100%
rename from src/dynamic_graph/sot/dynamics/tools.py
rename to src/dynamic_graph/sot/dynamics_pinocchio/tools.py
diff --git a/src/force-compensation.cpp b/src/force-compensation.cpp
index 3e44c5062202bc39f963b42bae2ee2bbb11f831f..3eb469aa49bdcbc0a677113e9f939653776c0461 100644
--- a/src/force-compensation.cpp
+++ b/src/force-compensation.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/force-compensation.h>
+#include <sot-dynamic-pinocchio/force-compensation.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 #include <sot/core/macros-signal.hh>
diff --git a/src/integrator-force-exact.cpp b/src/integrator-force-exact.cpp
index 97858b0dc473ceda197494ca0c7f8881faea8871..3b8c017e684a30213b48de710d3e2c7ac7b69a66 100644
--- a/src/integrator-force-exact.cpp
+++ b/src/integrator-force-exact.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/integrator-force-exact.h>
+#include <sot-dynamic-pinocchio/integrator-force-exact.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 #include <sot/core/exception-dynamic.hh>
@@ -72,14 +72,14 @@ int geev(Matrix &a,
 {
   char jobvl='V';
   char jobvr='V';
-  int const n = a.rows();
+  int const n = (int)a.rows();
   
   Vector wr(n);
   Vector wi(n);
   double* vl_real = MRAWDATA(vl2);
-  const int ldvl =vl2.rows();
+  const int ldvl = (int)vl2.rows();
   double* vr_real = MRAWDATA(vr2);
-  const int ldvr = vr2.rows();
+  const int ldvr = (int)vr2.rows();
   
   // workspace query
   int lwork = -1;
@@ -112,7 +112,7 @@ static void eigenDecomp( const dynamicgraph::Matrix& M,
 			 dynamicgraph::Matrix& P,
 			 dynamicgraph::Vector& eig )
 {
-  unsigned int SIZE = M.cols();
+  long int SIZE = M.cols();
   Matrix Y(M);
   Eigen::VectorXcd evals(SIZE);
   Matrix vl(SIZE,SIZE);
@@ -145,7 +145,7 @@ static void eigenDecomp( const dynamicgraph::Matrix& M,
 static void expMatrix( const dynamicgraph::Matrix& MiB,
 		       dynamicgraph::Matrix& Mexp )
 {
-  unsigned int SIZE = MiB.cols();
+  long int SIZE = MiB.cols();
 
   dynamicgraph::Matrix Pmib(MiB.cols(),MiB.cols());
   dynamicgraph::Vector eig_mib(MiB.cols());
@@ -185,7 +185,7 @@ computeVelocityExact( dynamicgraph::Vector& res,
   const dynamicgraph::Vector & force = forceSIN( time );
   const dynamicgraph::Matrix & massInverse = massInverseSIN( time );
   const dynamicgraph::Matrix & friction = frictionSIN( time );
-  unsigned int nf = force.size(), nv = friction.cols();
+  long int nf = force.size(), nv = friction.cols();
   res.resize(nv); res.setZero();
 
   if(! velocityPrecSIN )
diff --git a/src/integrator-force-rk4.cpp b/src/integrator-force-rk4.cpp
index 9b0843727eed908c24d1ba13075b52d86214e04b..8e654fdf2c0f3fe20acf70d0c0b669f6bd0335a9 100644
--- a/src/integrator-force-rk4.cpp
+++ b/src/integrator-force-rk4.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/integrator-force-rk4.h>
+#include <sot-dynamic-pinocchio/integrator-force-rk4.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 
@@ -69,7 +69,7 @@ computeDerivativeRK4( dynamicgraph::Vector& res,
   const dynamicgraph::Vector & force = forceSIN( time );
   const dynamicgraph::Matrix & massInverse = massInverseSIN( time );
   const dynamicgraph::Matrix & friction = frictionSIN( time );
-  unsigned int nf = force.size(), nv = friction.cols();
+  long int nf = force.size(), nv = friction.cols();
   res.resize(nv); res.fill(0);
 
   if(! velocityPrecSIN )
diff --git a/src/integrator-force.cpp b/src/integrator-force.cpp
index 4b55b6b3b2241f3b477c93a5c7a85958c7dd1852..1b3cd74e21748192901cc59506519a261a573ceb 100644
--- a/src/integrator-force.cpp
+++ b/src/integrator-force.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/integrator-force.h>
+#include <sot-dynamic-pinocchio/integrator-force.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 
diff --git a/src/mass-apparent.cpp b/src/mass-apparent.cpp
index c0b343e41bd3576a41cb20c0c4cd5140ee370a72..5644508fe1aa0cd64002776b21cf3ef71873adb4 100644
--- a/src/mass-apparent.cpp
+++ b/src/mass-apparent.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/mass-apparent.h>
+#include <sot-dynamic-pinocchio/mass-apparent.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 
diff --git a/src/matrix-inertia.cpp b/src/matrix-inertia.cpp
index f31d1e173f2ff50683ff705dd06a0477daaedf2d..f18087348104f45116f0df0eb4e22ecdd68022d9 100644
--- a/src/matrix-inertia.cpp
+++ b/src/matrix-inertia.cpp
@@ -5,24 +5,24 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include <fstream>
 #include <vector>
 #include <map>
 
-#include <sot-dynamic/matrix-inertia.h>
+#include <sot-dynamic-pinocchio/matrix-inertia.h>
 //#include <jrl/dynamics/Joint.h>
 //#include <jrl/dynamics/HumanoidDynamicMultiBody.h>
 #include <abstract-robot-dynamics/robot-dynamics-object-constructor.hh>
diff --git a/src/python-module-py.cpp b/src/python-module-py.cpp
index 47f9fa92ebde8632ef2922b9ae5424fc27562f60..495ac6a8b06cbd49ac0e052eb6d9552f9f1efbf8 100644
--- a/src/python-module-py.cpp
+++ b/src/python-module-py.cpp
@@ -1,20 +1,20 @@
 // Copyright (C) 2008-2016 LAAS-CNRS, JRL AIST-CNRS.
 //
-// This file is part of sot-dynamic.
-// sot-dynamic is free software: you can redistribute it and/or modify
+// This file is part of sot-dynamic-pinocchio.
+// sot-dynamic-pinocchio is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
 // (at your option) any later version.
 //
-// sot-dynamic is distributed in the hope that it will be useful,
+// sot-dynamic-pinocchio is distributed in the hope that it will be useful,
 // but WITHOUT ANY WARRANTY; without even the implied warranty of
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 // GNU Lesser General Public License for more details.
 // You should have received a copy of the GNU Lesser General Public License
-// along with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+// along with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
 
 #include <Python.h>
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 #include <boost/python.hpp>
 #include <typeinfo>
 #include <cstdio>
@@ -41,7 +41,7 @@ namespace dynamicgraph{
       }
 
       pointer1 = PyCObject_AsVoidPtr(object);
-      Dynamic* dyn_entity = (Dynamic*) pointer1;
+      DynamicPinocchio* dyn_entity = (DynamicPinocchio*) pointer1;
 
       try {
 	boost::python::extract<se3::Model&> cppHandle(pyPinocchioObject);
@@ -79,7 +79,7 @@ namespace dynamicgraph{
       }
 
       pointer1 = PyCObject_AsVoidPtr(object);
-      Dynamic* dyn_entity = (Dynamic*) pointer1;
+      DynamicPinocchio* dyn_entity = (DynamicPinocchio*) pointer1;
 
       try {
 	boost::python::extract<se3::Data&> cppHandle(pyPinocchioObject);
diff --git a/src/sot-dynamic.cpp b/src/sot-dynamic-pinocchio.cpp
similarity index 86%
rename from src/sot-dynamic.cpp
rename to src/sot-dynamic-pinocchio.cpp
index d1f12d42536a4460e60d390272fb51bfe06b0584..aca5f58ca6b7f245ca15cf3738c07a770b7c5530 100644
--- a/src/sot-dynamic.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -1,25 +1,25 @@
 /*
- * Copyright 2010,
+ * Copyright 2016,
  * François Bleibel,
  * Olivier Stasse,
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 #include <sot/core/debug.hh>
 
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 
 #include <boost/version.hpp>
 #include <boost/filesystem.hpp>
@@ -39,10 +39,10 @@
 using namespace dynamicgraph::sot;
 using namespace dynamicgraph;
 
-const std::string dg::sot::Dynamic::CLASS_NAME = "Dynamic";
+const std::string dg::sot::DynamicPinocchio::CLASS_NAME = "DynamicPinocchio";
 
-Dynamic::
-Dynamic( const std::string & name)
+DynamicPinocchio::
+DynamicPinocchio( const std::string & name)
   :Entity(name)
   ,m_model(NULL)
   ,m_data(NULL)
@@ -54,56 +54,56 @@ Dynamic( const std::string & name)
   ,jointAccelerationSIN(NULL,"sotDynamic("+name+")::input(vector)::acceleration")
   ,freeFlyerAccelerationSIN(NULL,"sotDynamic("+name+")::input(vector)::ffacceleration")
 
-  ,newtonEulerSINTERN( boost::bind(&Dynamic::computeNewtonEuler,this,_1,_2),
+  ,newtonEulerSINTERN( boost::bind(&DynamicPinocchio::computeNewtonEuler,this,_1,_2),
 		       jointPositionSIN<<freeFlyerPositionSIN
 		       <<jointVelocitySIN<<freeFlyerVelocitySIN
 		       <<jointAccelerationSIN<<freeFlyerAccelerationSIN,
 		       "sotDynamic("+name+")::intern(dummy)::newtoneuler" )
    
-  ,zmpSOUT( boost::bind(&Dynamic::computeZmp,this,_1,_2),
+  ,zmpSOUT( boost::bind(&DynamicPinocchio::computeZmp,this,_1,_2),
 	    newtonEulerSINTERN,
 	    "sotDynamic("+name+")::output(vector)::zmp" )
-  ,JcomSOUT( boost::bind(&Dynamic::computeJcom,this,_1,_2),
+  ,JcomSOUT( boost::bind(&DynamicPinocchio::computeJcom,this,_1,_2),
 	     newtonEulerSINTERN,
 	     "sotDynamic("+name+")::output(matrix)::Jcom" )
-  ,comSOUT( boost::bind(&Dynamic::computeCom,this,_1,_2),
+  ,comSOUT( boost::bind(&DynamicPinocchio::computeCom,this,_1,_2),
 	    newtonEulerSINTERN,
 	    "sotDynamic("+name+")::output(vector)::com" )
-  ,inertiaSOUT( boost::bind(&Dynamic::computeInertia,this,_1,_2),
+  ,inertiaSOUT( boost::bind(&DynamicPinocchio::computeInertia,this,_1,_2),
 		newtonEulerSINTERN,
 		"sotDynamic("+name+")::output(matrix)::inertia" )
-  ,footHeightSOUT( boost::bind(&Dynamic::computeFootHeight,this,_1,_2),
+  ,footHeightSOUT( boost::bind(&DynamicPinocchio::computeFootHeight,this,_1,_2),
 		   newtonEulerSINTERN,
 		   "sotDynamic("+name+")::output(double)::footHeight" )
    
-  ,upperJlSOUT( boost::bind(&Dynamic::getUpperPositionLimits,this,_1,_2),
+  ,upperJlSOUT( boost::bind(&DynamicPinocchio::getUpperPositionLimits,this,_1,_2),
 		sotNOSIGNAL,
 		"sotDynamic("+name+")::output(vector)::upperJl" )
    
-  ,lowerJlSOUT( boost::bind(&Dynamic::getLowerPositionLimits,this,_1,_2),
+  ,lowerJlSOUT( boost::bind(&DynamicPinocchio::getLowerPositionLimits,this,_1,_2),
 		sotNOSIGNAL,
 		"sotDynamic("+name+")::output(vector)::lowerJl" )
    
-  ,upperVlSOUT( boost::bind(&Dynamic::getUpperVelocityLimits,this,_1,_2),
+  ,upperVlSOUT( boost::bind(&DynamicPinocchio::getUpperVelocityLimits,this,_1,_2),
 		sotNOSIGNAL,
 		"sotDynamic("+name+")::output(vector)::upperVl" )
    
-  ,upperTlSOUT( boost::bind(&Dynamic::getMaxEffortLimits,this,_1,_2),
+  ,upperTlSOUT( boost::bind(&DynamicPinocchio::getMaxEffortLimits,this,_1,_2),
 		sotNOSIGNAL,
 		"sotDynamic("+name+")::output(vector)::upperTl" )
    
   ,inertiaRotorSOUT( "sotDynamic("+name+")::output(matrix)::inertiaRotor" )
   ,gearRatioSOUT( "sotDynamic("+name+")::output(matrix)::gearRatio" )
-  ,inertiaRealSOUT( boost::bind(&Dynamic::computeInertiaReal,this,_1,_2),
+  ,inertiaRealSOUT( boost::bind(&DynamicPinocchio::computeInertiaReal,this,_1,_2),
 		    inertiaSOUT << gearRatioSOUT << inertiaRotorSOUT,
 		    "sotDynamic("+name+")::output(matrix)::inertiaReal" )
-  ,MomentaSOUT( boost::bind(&Dynamic::computeMomenta,this,_1,_2),
+  ,MomentaSOUT( boost::bind(&DynamicPinocchio::computeMomenta,this,_1,_2),
 		inertiaSOUT,
 		"sotDynamic("+name+")::output(vector)::momenta" )
-  ,AngularMomentumSOUT( boost::bind(&Dynamic::computeAngularMomentum,this,_1,_2),
+  ,AngularMomentumSOUT( boost::bind(&DynamicPinocchio::computeAngularMomentum,this,_1,_2),
 			inertiaSOUT,
 			"sotDynamic("+name+")::output(vector)::angularmomentum" )
-  ,dynamicDriftSOUT( boost::bind(&Dynamic::computeTorqueDrift,this,_1,_2),
+  ,dynamicDriftSOUT( boost::bind(&DynamicPinocchio::computeTorqueDrift,this,_1,_2),
 		     newtonEulerSINTERN,
 		     "sotDynamic("+name+")::output(vector)::dynamicDrift" )
 {
@@ -176,25 +176,25 @@ Dynamic( const std::string & name)
       "          , left-wrist, right-wrist, waist, chest).\n"
       "\n";
     addCommand("createOpPoint",
-	       makeCommandVoid2(*this,&Dynamic::cmd_createOpPointSignals,
+	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createOpPointSignals,
 				docstring));
     
     docstring = docCommandVoid2("Create a jacobian (world frame) signal only for one joint.",
 				"string (signal name)","string (joint name)");
     addCommand("createJacobian",
-	       makeCommandVoid2(*this,&Dynamic::cmd_createJacobianWorldSignal,
+	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createJacobianWorldSignal,
 				docstring));
     
     docstring = docCommandVoid2("Create a jacobian (endeff frame) signal only for one joint.",
 				"string (signal name)","string (joint name)");
     addCommand("createJacobianEndEff",
-	       makeCommandVoid2(*this,&Dynamic::cmd_createJacobianEndEffectorSignal,
+	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createJacobianEndEffectorSignal,
 				docstring));
     
     docstring = docCommandVoid2("Create a position (matrix homo) signal only for one joint.",
 				"string (signal name)","string (joint name)");
     addCommand("createPosition",
-	       makeCommandVoid2(*this,&Dynamic::cmd_createPositionSignal,docstring));
+	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createPositionSignal,docstring));
   }
 
 
@@ -204,7 +204,7 @@ Dynamic( const std::string & name)
   sotDEBUGOUT(5);
 }
 
-Dynamic::~Dynamic( void ) {
+DynamicPinocchio::~DynamicPinocchio( void ) {
   sotDEBUGIN(15);
     //  if (0!=m_model){ delete m_model; m_model=NULL;}
   if (0!=m_data)
@@ -222,7 +222,7 @@ Dynamic::~Dynamic( void ) {
 }
 
 void
-Dynamic::setModel(se3::Model* modelPtr){
+DynamicPinocchio::setModel(se3::Model* modelPtr){
   this->m_model = modelPtr;
 
   if (this->m_model->nq > m_model->nv) {
@@ -237,14 +237,14 @@ Dynamic::setModel(se3::Model* modelPtr){
 
 
 void
-Dynamic::setData(se3::Data* dataPtr){
+DynamicPinocchio::setData(se3::Data* dataPtr){
   this->m_data = dataPtr;
   
 }
 
 /*--------------------------------GETTERS-------------------------------------------*/
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 getLowerPositionLimits(dg::Vector& res, const int&)
 {
   sotDEBUGIN(15);
@@ -284,7 +284,7 @@ getLowerPositionLimits(dg::Vector& res, const int&)
   return res;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 getUpperPositionLimits(dg::Vector& res, const int&)
 {
   sotDEBUGIN(15);
@@ -324,7 +324,7 @@ getUpperPositionLimits(dg::Vector& res, const int&)
   return res;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 getUpperVelocityLimits(dg::Vector& res, const int&)
 {
   sotDEBUGIN(15);
@@ -338,7 +338,7 @@ getUpperVelocityLimits(dg::Vector& res, const int&)
   return res;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 getMaxEffortLimits(dg::Vector& res, const int&)
 {
   sotDEBUGIN(15);
@@ -353,7 +353,7 @@ getMaxEffortLimits(dg::Vector& res, const int&)
 
 
 /* ---------------- INTERNAL ------------------------------------------------ */
-dg::Vector Dynamic::getPinocchioPos(int time)
+dg::Vector DynamicPinocchio::getPinocchioPos(int time)
 {
   sotDEBUGIN(15);
   dg::Vector qJoints=jointPositionSIN.access(time);
@@ -397,7 +397,7 @@ dg::Vector Dynamic::getPinocchioPos(int time)
   return q; 
 }
 
-Eigen::VectorXd Dynamic::getPinocchioVel(int time)
+Eigen::VectorXd DynamicPinocchio::getPinocchioVel(int time)
 {
   const Eigen::VectorXd vJoints=jointVelocitySIN.access(time);
   if(freeFlyerVelocitySIN){
@@ -410,7 +410,7 @@ Eigen::VectorXd Dynamic::getPinocchioVel(int time)
     return vJoints;
 }
 
-Eigen::VectorXd Dynamic::getPinocchioAcc(int time)
+Eigen::VectorXd DynamicPinocchio::getPinocchioAcc(int time)
 {
   const Eigen::VectorXd aJoints=jointAccelerationSIN.access(time);
   if(freeFlyerAccelerationSIN){
@@ -423,23 +423,23 @@ Eigen::VectorXd Dynamic::getPinocchioAcc(int time)
 }
 
 /* --- SIGNAL ACTIVATION ---------------------------------------------------- */
-dg::SignalTimeDependent< dg::Matrix,int > & Dynamic::
+dg::SignalTimeDependent< dg::Matrix,int > & DynamicPinocchio::
 createJacobianSignal( const std::string& signame, const std::string& jointName )
 {
   sotDEBUGIN(15);
   assert(m_model);
   dg::SignalTimeDependent< dg::Matrix,int > * sig;
   if(m_model->existFrame(jointName)) {
-    int frameId = m_model->getFrameId(jointName);
+    long int frameId = m_model->getFrameId(jointName);
     sig = new dg::SignalTimeDependent< dg::Matrix,int >
-      ( boost::bind(&Dynamic::computeGenericJacobian,this,true,frameId,_1,_2),
+      ( boost::bind(&DynamicPinocchio::computeGenericJacobian,this,true,frameId,_1,_2),
 	newtonEulerSINTERN,
 	"sotDynamic("+name+")::output(matrix)::"+signame );
   }
   else if(m_model->existJointName(jointName)) {
-    int jointId = m_model->getJointId(jointName);
+    long int jointId = m_model->getJointId(jointName);
     sig = new dg::SignalTimeDependent< dg::Matrix,int >
-      ( boost::bind(&Dynamic::computeGenericJacobian,this,false,jointId,_1,_2),
+      ( boost::bind(&DynamicPinocchio::computeGenericJacobian,this,false,jointId,_1,_2),
 	newtonEulerSINTERN,
 	"sotDynamic("+name+")::output(matrix)::"+signame );
   }
@@ -452,23 +452,23 @@ createJacobianSignal( const std::string& signame, const std::string& jointName )
   return *sig;
 }
 
-dg::SignalTimeDependent< dg::Matrix,int > & Dynamic::
+dg::SignalTimeDependent< dg::Matrix,int > & DynamicPinocchio::
 createEndeffJacobianSignal( const std::string& signame, const std::string& jointName )
 {
   sotDEBUGIN(15);
   assert(m_model);
   dg::SignalTimeDependent< dg::Matrix,int > * sig;
   if(m_model->existFrame(jointName)) {
-    int frameId = m_model->getFrameId(jointName);
+    long int frameId = m_model->getFrameId(jointName);
     sig = new dg::SignalTimeDependent< dg::Matrix,int >
-      ( boost::bind(&Dynamic::computeGenericEndeffJacobian,this,true,frameId,_1,_2),
+      ( boost::bind(&DynamicPinocchio::computeGenericEndeffJacobian,this,true,frameId,_1,_2),
 	newtonEulerSINTERN,
 	"sotDynamic("+name+")::output(matrix)::"+signame );
   }
   else if(m_model->existJointName(jointName)) {
-    int jointId = m_model->getJointId(jointName); 
+    long int jointId = m_model->getJointId(jointName); 
     sig = new dg::SignalTimeDependent< dg::Matrix,int >
-      ( boost::bind(&Dynamic::computeGenericEndeffJacobian,this,false,jointId,_1,_2),
+      ( boost::bind(&DynamicPinocchio::computeGenericEndeffJacobian,this,false,jointId,_1,_2),
 	newtonEulerSINTERN,
 	"sotDynamic("+name+")::output(matrix)::"+signame );
   }
@@ -480,23 +480,23 @@ createEndeffJacobianSignal( const std::string& signame, const std::string& joint
   return *sig;
 }
 
-dg::SignalTimeDependent< MatrixHomogeneous,int >& Dynamic::
+dg::SignalTimeDependent< MatrixHomogeneous,int >& DynamicPinocchio::
 createPositionSignal( const std::string& signame, const std::string& jointName)
 {
   sotDEBUGIN(15);
   assert(m_model);
   dg::SignalTimeDependent< MatrixHomogeneous,int > * sig;
   if(m_model->existFrame(jointName)) {
-    int frameId = m_model->getFrameId(jointName);
+    long int frameId = m_model->getFrameId(jointName);
     sig = new dg::SignalTimeDependent< MatrixHomogeneous,int >
-      ( boost::bind(&Dynamic::computeGenericPosition,this,true,frameId,_1,_2),
+      ( boost::bind(&DynamicPinocchio::computeGenericPosition,this,true,frameId,_1,_2),
 	newtonEulerSINTERN,
 	"sotDynamic("+name+")::output(matrixHomo)::"+signame );
   }
   else if(m_model->existJointName(jointName)) {
-    int jointId = m_model->getJointId(jointName); 
+    long int jointId = m_model->getJointId(jointName); 
     sig = new dg::SignalTimeDependent< MatrixHomogeneous,int >
-      ( boost::bind(&Dynamic::computeGenericPosition,this,false,jointId,_1,_2),
+      ( boost::bind(&DynamicPinocchio::computeGenericPosition,this,false,jointId,_1,_2),
 	newtonEulerSINTERN,
 	"sotDynamic("+name+")::output(matrixHomo)::"+signame );
   }
@@ -509,16 +509,16 @@ createPositionSignal( const std::string& signame, const std::string& jointName)
   return *sig;
 }
 
-SignalTimeDependent< dg::Vector,int >& Dynamic::
+SignalTimeDependent< dg::Vector,int >& DynamicPinocchio::
 createVelocitySignal( const std::string& signame,const std::string& jointName )
 {
   sotDEBUGIN(15);
   assert(m_model);
-  int jointId = m_model->getJointId(jointName);
+  long int jointId = m_model->getJointId(jointName);
 
   SignalTimeDependent< dg::Vector,int > * sig
     = new SignalTimeDependent< dg::Vector,int >
-    ( boost::bind(&Dynamic::computeGenericVelocity,this,jointId,_1,_2),
+    ( boost::bind(&DynamicPinocchio::computeGenericVelocity,this,jointId,_1,_2),
       newtonEulerSINTERN,
       "sotDynamic("+name+")::output(dg::Vector)::"+signame );
   genericSignalRefs.push_back( sig );
@@ -528,15 +528,15 @@ createVelocitySignal( const std::string& signame,const std::string& jointName )
   return *sig;
 }
 
-dg::SignalTimeDependent< dg::Vector,int >& Dynamic::
+dg::SignalTimeDependent< dg::Vector,int >& DynamicPinocchio::
 createAccelerationSignal( const std::string& signame, const std::string& jointName)
 {
   sotDEBUGIN(15);
   assert(m_model);
-  int jointId = m_model->getJointId(jointName);
+  long int jointId = m_model->getJointId(jointName);
   dg::SignalTimeDependent< dg::Vector,int > * sig
     = new dg::SignalTimeDependent< dg::Vector,int >
-    ( boost::bind(&Dynamic::computeGenericAcceleration,this,jointId,_1,_2),
+    ( boost::bind(&DynamicPinocchio::computeGenericAcceleration,this,jointId,_1,_2),
       newtonEulerSINTERN,
       "sotDynamic("+name+")::output(matrixHomo)::"+signame );
 
@@ -550,7 +550,7 @@ createAccelerationSignal( const std::string& signame, const std::string& jointNa
 
 
 
-void Dynamic::
+void DynamicPinocchio::
 destroyJacobianSignal( const std::string& signame )
 {
   sotDEBUGIN(15);
@@ -577,7 +577,7 @@ destroyJacobianSignal( const std::string& signame )
   delete sig;
 }
 
-void Dynamic::
+void DynamicPinocchio::
 destroyPositionSignal( const std::string& signame )
 {
   sotDEBUGIN(15);
@@ -603,7 +603,7 @@ destroyPositionSignal( const std::string& signame )
   delete sig;
 }
 
-void Dynamic::
+void DynamicPinocchio::
 destroyVelocitySignal( const std::string& signame )
 {
   sotDEBUGIN(15);
@@ -629,7 +629,7 @@ destroyVelocitySignal( const std::string& signame )
   delete sig;
 }
 
-void Dynamic::
+void DynamicPinocchio::
 destroyAccelerationSignal( const std::string& signame )
 {
   sotDEBUGIN(15);
@@ -658,7 +658,7 @@ destroyAccelerationSignal( const std::string& signame )
 
 /* --------------------- COMPUTE ------------------------------------------------- */
 
-dg::Vector& Dynamic::computeZmp( dg::Vector& res,int time )
+dg::Vector& DynamicPinocchio::computeZmp( dg::Vector& res,int time )
 {
     //TODO: To be verified
     sotDEBUGIN(25);
@@ -680,7 +680,7 @@ dg::Vector& Dynamic::computeZmp( dg::Vector& res,int time )
 }
 
 //In world coordinates
-dg::Matrix& Dynamic::
+dg::Matrix& DynamicPinocchio::
 computeGenericJacobian(bool isFrame, int jointId, dg::Matrix& res,int time )
 {
   sotDEBUGIN(25);
@@ -702,7 +702,7 @@ computeGenericJacobian(bool isFrame, int jointId, dg::Matrix& res,int time )
   return res;
 }
 
-dg::Matrix& Dynamic::
+dg::Matrix& DynamicPinocchio::
 computeGenericEndeffJacobian(bool isFrame, int jointId,dg::Matrix& res,int time )
 {
   sotDEBUGIN(25);
@@ -729,7 +729,7 @@ computeGenericEndeffJacobian(bool isFrame, int jointId,dg::Matrix& res,int time
   return res;
 }
 
-MatrixHomogeneous& Dynamic::
+MatrixHomogeneous& DynamicPinocchio::
 computeGenericPosition(bool isFrame, int jointId, MatrixHomogeneous& res, int time)
 {
   sotDEBUGIN(25);
@@ -750,7 +750,7 @@ computeGenericPosition(bool isFrame, int jointId, MatrixHomogeneous& res, int ti
   return res;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 computeGenericVelocity( int jointId, dg::Vector& res,int time )
 {
   sotDEBUGIN(25);
@@ -763,7 +763,7 @@ computeGenericVelocity( int jointId, dg::Vector& res,int time )
   return res;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 computeGenericAcceleration( int jointId ,dg::Vector& res,int time )
 {
   sotDEBUGIN(25);
@@ -776,7 +776,7 @@ computeGenericAcceleration( int jointId ,dg::Vector& res,int time )
   return res;
 }
 
-int& Dynamic::
+int& DynamicPinocchio::
 computeNewtonEuler( int& dummy,int time )
 {
   sotDEBUGIN(15);
@@ -797,7 +797,7 @@ computeNewtonEuler( int& dummy,int time )
   return dummy;
 }
 
-dg::Matrix& Dynamic::
+dg::Matrix& DynamicPinocchio::
 computeJcom( dg::Matrix& Jcom,int time )
 {
   
@@ -811,7 +811,7 @@ computeJcom( dg::Matrix& Jcom,int time )
   return Jcom;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 computeCom( dg::Vector& com,int time )
 {
 
@@ -823,7 +823,7 @@ computeCom( dg::Vector& com,int time )
   return com;
 }
 
-dg::Matrix& Dynamic::
+dg::Matrix& DynamicPinocchio::
 computeInertia( dg::Matrix& res,int time )
 {
     sotDEBUGIN(25);
@@ -837,7 +837,7 @@ computeInertia( dg::Matrix& res,int time )
     return res;
 }
 
-dg::Matrix& Dynamic::
+dg::Matrix& DynamicPinocchio::
 computeInertiaReal( dg::Matrix& res,int time )
 {
   sotDEBUGIN(25);
@@ -854,7 +854,7 @@ computeInertiaReal( dg::Matrix& res,int time )
   return res;
 }
 
-double& Dynamic::
+double& DynamicPinocchio::
 computeFootHeight (double &res , int time)
 {
   //Ankle position in local foot frame
@@ -865,7 +865,7 @@ computeFootHeight (double &res , int time)
     SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
 			       "Robot has no joint corresponding to rigthFoot");
   }
-  int jointId = m_model->getJointId("r_sole_joint");
+  long int jointId = m_model->getJointId("r_sole_joint");
   Eigen::Vector3d anklePosInLocalRefFrame= m_data->liMi[jointId].translation();
   // TODO: positive or negative? Current output:negative
   res = anklePosInLocalRefFrame(2);
@@ -873,7 +873,7 @@ computeFootHeight (double &res , int time)
   return res;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 computeTorqueDrift( dg::Vector& tauDrift,const int  &time )
 {
   sotDEBUGIN(25);
@@ -883,7 +883,7 @@ computeTorqueDrift( dg::Vector& tauDrift,const int  &time )
   return tauDrift;
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 computeMomenta(dg::Vector & Momenta, int time)
 {
   sotDEBUGIN(25);
@@ -897,7 +897,7 @@ computeMomenta(dg::Vector & Momenta, int time)
   return Momenta; 
 }
 
-dg::Vector& Dynamic::
+dg::Vector& DynamicPinocchio::
 computeAngularMomentum(dg::Vector & Momenta, int time)
 {
   sotDEBUGIN(25);
@@ -914,7 +914,7 @@ computeAngularMomentum(dg::Vector & Momenta, int time)
 
 /* ------------------------ SIGNAL CASTING--------------------------------------- */
 
-dg::SignalTimeDependent<dg::Matrix,int>& Dynamic::
+dg::SignalTimeDependent<dg::Matrix,int>& DynamicPinocchio::
 jacobiansSOUT( const std::string& name )
 {
   SignalBase<int> & sigabs = Entity::getSignal(name);
@@ -929,7 +929,7 @@ jacobiansSOUT( const std::string& name )
 				  name.c_str());
   }
 }
-dg::SignalTimeDependent<MatrixHomogeneous,int>& Dynamic::
+dg::SignalTimeDependent<MatrixHomogeneous,int>& DynamicPinocchio::
 positionsSOUT( const std::string& name )
 {
   SignalBase<int> & sigabs = Entity::getSignal(name);
@@ -945,7 +945,7 @@ positionsSOUT( const std::string& name )
   }
 }
 
-dg::SignalTimeDependent<dg::Vector,int>& Dynamic::
+dg::SignalTimeDependent<dg::Vector,int>& DynamicPinocchio::
 velocitiesSOUT( const std::string& name )
 {
   SignalBase<int> & sigabs = Entity::getSignal(name);
@@ -961,7 +961,7 @@ velocitiesSOUT( const std::string& name )
   }
 }
 
-dg::SignalTimeDependent<dg::Vector,int>& Dynamic::
+dg::SignalTimeDependent<dg::Vector,int>& DynamicPinocchio::
 accelerationsSOUT( const std::string& name )
 {
   SignalBase<int> & sigabs = Entity::getSignal(name);
@@ -982,7 +982,7 @@ accelerationsSOUT( const std::string& name )
 /*-------------------------------------------------------------------------*/
 
 /* --- PARAMS --------------------------------------------------------------- */
-void Dynamic::
+void DynamicPinocchio::
 commandLine( const std::string& cmdLine,
 	     std::istringstream& cmdArgs,
 	     std::ostream& os )
@@ -1096,23 +1096,23 @@ commandLine( const std::string& cmdLine,
 
 //jointName is either a fixed-joint (pinocchio operational frame) or a 
 //movable joint (pinocchio joint-variant).
-void Dynamic::cmd_createOpPointSignals( const std::string& opPointName,
+void DynamicPinocchio::cmd_createOpPointSignals( const std::string& opPointName,
 					const std::string& jointName )
 {
     createEndeffJacobianSignal(std::string("J")+opPointName,jointName);
     createPositionSignal(opPointName,jointName);
 }
-void Dynamic::cmd_createJacobianWorldSignal( const std::string& signalName,
+void DynamicPinocchio::cmd_createJacobianWorldSignal( const std::string& signalName,
 					     const std::string& jointName )
 {
     createJacobianSignal(signalName, jointName);
 }
-void Dynamic::cmd_createJacobianEndEffectorSignal( const std::string& signalName,
+void DynamicPinocchio::cmd_createJacobianEndEffectorSignal( const std::string& signalName,
 					     const std::string& jointName )
 {
     createEndeffJacobianSignal(signalName, jointName);
 }
-void Dynamic::cmd_createPositionSignal( const std::string& signalName,
+void DynamicPinocchio::cmd_createPositionSignal( const std::string& signalName,
 					const std::string& jointName )
 {
     createPositionSignal(signalName, jointName);
diff --git a/src/waist-attitude-from-sensor.cpp b/src/waist-attitude-from-sensor.cpp
index a1a937ecd8104807624325acc407ac0110a24138..729de0c7a84918532f165a5f6eb5971b5918a7bc 100644
--- a/src/waist-attitude-from-sensor.cpp
+++ b/src/waist-attitude-from-sensor.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/waist-attitude-from-sensor.h>
+#include <sot-dynamic-pinocchio/waist-attitude-from-sensor.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 
diff --git a/src/zmp-from-forces.cpp b/src/zmp-from-forces.cpp
index f3d44e485a47d1b396067b126404bb568e78bfb6..8391faf55758b6d536e0dc974c08166125779aed 100644
--- a/src/zmp-from-forces.cpp
+++ b/src/zmp-from-forces.cpp
@@ -4,17 +4,17 @@
  *
  * CNRS
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include <vector>
diff --git a/src/zmpreffromcom.cpp b/src/zmpreffromcom.cpp
index 577c95641bfd25b321822aa7d7239c07e21c50dc..040ed6e2d3acca067cce8c10b6b9cb433e65be70 100644
--- a/src/zmpreffromcom.cpp
+++ b/src/zmpreffromcom.cpp
@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * This file is part of sot-dynamic-pinocchio.
+ * sot-dynamic-pinocchio is free software: you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public License
  * as published by the Free Software Foundation, either version 3 of
  * the License, or (at your option) any later version.
- * sot-dynamic is distributed in the hope that it will be
+ * sot-dynamic-pinocchio is distributed in the hope that it will be
  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU Lesser General Public License for more details.  You should
  * have received a copy of the GNU Lesser General Public License along
- * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/zmpreffromcom.h>
+#include <sot-dynamic-pinocchio/zmpreffromcom.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 using namespace dynamicgraph::sot;