diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ec5802cfb60c8541e4fe40d42725a1564a31466..c5cc2257d28836293362eff31a850cafaab12264 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,17 +1,17 @@
 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, 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 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/>.
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
@@ -24,7 +24,7 @@ INCLUDE(cmake/cpack.cmake)
 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")
+SET(PROJECT_URL "https://github.com/stack-of-tasks/sot-dynamic-pinocchio/")
 
 SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
 
@@ -64,7 +64,7 @@ LIST(APPEND plugins dynamic)
 
 LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
 
-# Add dependency toward sot-dynamic library in pkg-config file.
+# Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
 PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
 
 # Search for dependencies.
diff --git a/README.md b/README.md
index 2d175177a692385d6e194834efc0d598b6d0ef97..a86320d428f0d6f6d71e626d943b42c84b228c91 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,8 @@ sot-dynamic-pinocchio
 Encapsulate Pinocchio in SoT
 ===========
 
-[![Build Status](https://travis-ci.org/proyan/sot-dynamic.png?branch=master)](https://travis-ci.org/proyan/sot-dynamic)
-[![Coverage Status](https://coveralls.io/repos/proyan/sot-dynamic/badge.png)](https://coveralls.io/r/proyan/sot-dynamic)
+[![Build Status](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio.png?branch=master)](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
+[![Coverage Status](https://coveralls.io/repos/stack-of-tasks/sot-dynamic-pinocchio/badge.png)](https://coveralls.io/r/stack-of-tasks/sot-dynamic-pinocchio)
 
 This software provides robot dynamic computation for dynamic-graph
 by using pinocchio.
@@ -38,7 +38,7 @@ have to be available on your machine.
    - usual compilation tools (GCC/G++, make, etc.)
 
 
-[dynamic-graph]: http://github.com/proyan/dynamic-graph
+[dynamic-graph]: http://github.com/stack-of-tasks/dynamic-graph
 [pinocchio]: http://github.com/stack-of-tasks/pinocchio
-[sot-core]: http://github.com/proyan/sot-core
+[sot-core]: http://github.com/stack-of-tasks/sot-core
 >>>>>>> devel
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index baebb43709c3f2fc7e9372b74f524e66156db0b8..06d457c7ddd1859bd3b58ae6f597f618a77c22f5 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -1,17 +1,17 @@
 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, 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 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/>.
 
 SET(${PROJECT_NAME}_HEADERS
 	dynamic-pinocchio.h
diff --git a/include/sot-dynamic-pinocchio/angle-estimator.h b/include/sot-dynamic-pinocchio/angle-estimator.h
index 694f8d24c603bb5782bb0ff75ca3c2867309c871..ba1c27af962a49e84180ccee93be0e0740ae45d7 100644
--- a/include/sot-dynamic-pinocchio/angle-estimator.h
+++ b/include/sot-dynamic-pinocchio/angle-estimator.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_ANGLE_ESTIMATOR_H__
diff --git a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
index 2a064559bab7e7774fbc19fa9fefbd9d1b952248..7a11113915d7ae1a4d58408b2e87d09edd044456 100644
--- a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
+++ b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_DYNAMIC_PINOCCHIO_H__
diff --git a/include/sot-dynamic-pinocchio/force-compensation.h b/include/sot-dynamic-pinocchio/force-compensation.h
index 5e5a7b2ac220e344c507967eae7698b423477a4f..008ab3b61c52c3e921df1f62877e8c1644e687ef 100644
--- a/include/sot-dynamic-pinocchio/force-compensation.h
+++ b/include/sot-dynamic-pinocchio/force-compensation.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_SOTFORCECOMPENSATION_H__
diff --git a/include/sot-dynamic-pinocchio/integrator-force-exact.h b/include/sot-dynamic-pinocchio/integrator-force-exact.h
index 4ce2d8940f2f78a5ce3287a30f0e2e0fdfb87d79..c1151f938aa1114a0142a5e68c2c8920dd8b8e99 100644
--- a/include/sot-dynamic-pinocchio/integrator-force-exact.h
+++ b/include/sot-dynamic-pinocchio/integrator-force-exact.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
@@ -35,7 +35,7 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <sot/core/matrix-geometry.hh>
 
-#include <sot-dynamic/integrator-force.h>
+#include <sot-dynamic-pinocchio/integrator-force.h>
 
 /* STD */
 #include <string>
diff --git a/include/sot-dynamic-pinocchio/integrator-force-rk4.h b/include/sot-dynamic-pinocchio/integrator-force-rk4.h
index 76514451e29d414f9ea54a428a409377b42af176..6a6ad20e60d4e5c8cc4417a38e82a65c1fa25436 100644
--- a/include/sot-dynamic-pinocchio/integrator-force-rk4.h
+++ b/include/sot-dynamic-pinocchio/integrator-force-rk4.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_SOTINTEGRATORFORCERK4_H__
@@ -35,7 +35,7 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <sot/core/matrix-geometry.hh>
 
-#include <sot-dynamic/integrator-force.h>
+#include <sot-dynamic-pinocchio/integrator-force.h>
 
 /* STD */
 #include <string>
diff --git a/include/sot-dynamic-pinocchio/integrator-force.h b/include/sot-dynamic-pinocchio/integrator-force.h
index 57afd7c4c5e7d19f12d8cda5184b48addecbb2fc..9de5303f8d4680b223fccee8c1b69f8027f5447a 100644
--- a/include/sot-dynamic-pinocchio/integrator-force.h
+++ b/include/sot-dynamic-pinocchio/integrator-force.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_SOTINTEGRATORFORCE_H__
diff --git a/include/sot-dynamic-pinocchio/mass-apparent.h b/include/sot-dynamic-pinocchio/mass-apparent.h
index c76acd39b11d3ec2c8bacda040705fb390f49bf7..43743cb22a72d1b9cff4fb1672457a5c022fef03 100644
--- a/include/sot-dynamic-pinocchio/mass-apparent.h
+++ b/include/sot-dynamic-pinocchio/mass-apparent.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_SOTMASSAPPARENT_H__
diff --git a/include/sot-dynamic-pinocchio/matrix-inertia.h b/include/sot-dynamic-pinocchio/matrix-inertia.h
index 690b1050f63e50fc8cd919d9f855da33cb3c5d68..f385cd77a75afa65a0c087568ed43d788074b40a 100644
--- a/include/sot-dynamic-pinocchio/matrix-inertia.h
+++ b/include/sot-dynamic-pinocchio/matrix-inertia.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_SOTMATRIXINERTIA_H__
diff --git a/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h b/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
index 585de0861abf5661e6d54be34fae70a4a2534881..f442e2173292b8c4cb9eb7892f3322baf449082d 100644
--- a/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
+++ b/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
diff --git a/include/sot-dynamic-pinocchio/zmpreffromcom.h b/include/sot-dynamic-pinocchio/zmpreffromcom.h
index 0d651a085fb75a19f0d85dca6472d190e538c819..7a9edb98f0f243e14450cf07368e19ec756a8905 100644
--- a/include/sot-dynamic-pinocchio/zmpreffromcom.h
+++ b/include/sot-dynamic-pinocchio/zmpreffromcom.h
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 #ifndef __SOT_ZMPREFFROMCOM_H__
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index f9b45954ea3acee71bcb8dfb7e65cd7cd70aab22..df7d0d000d9aa48c528ad9e56e5458b7f5e941c7 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -1,17 +1,17 @@
 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, 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 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/>.
 
 ADD_DEFINITIONS(-DDEBUG=2)
 
diff --git a/unitTesting/dummy.cpp b/unitTesting/dummy.cpp
index ef8e85c486b9d392e80927993f5060ab0ec9c068..3848f27b8d92f56556a756fa6ecc6495f6ae5506 100644
--- a/unitTesting/dummy.cpp
+++ b/unitTesting/dummy.cpp
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 int main (int , char** )
diff --git a/unitTesting/test_config.cpp b/unitTesting/test_config.cpp
index 6aea603ebcf654204b7274c34378f282e31b6b94..3775f068a97495a30f54fc46aa3342ee1a7d6f14 100644
--- a/unitTesting/test_config.cpp
+++ b/unitTesting/test_config.cpp
@@ -9,7 +9,7 @@
 #include <boost/test/output_test_stream.hpp>
 
 /*-----------SOT DYNAMIC ------------*/
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 #include <sot/core/debug.hh>
 
 /*-----------DYNAMIC GRAPH ------------*/
diff --git a/unitTesting/test_constructor.cpp b/unitTesting/test_constructor.cpp
index cf32b5d5884152f1ed751e3fa35169838b6904f4..b821f42817a4ff4a7bda91bcefd137956341394c 100644
--- a/unitTesting/test_constructor.cpp
+++ b/unitTesting/test_constructor.cpp
@@ -9,7 +9,7 @@
 #include <boost/test/output_test_stream.hpp>
 
 /*-----------SOT DYNAMIC ------------*/
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 #include <sot/core/debug.hh>
 
 /*-----------DYNAMIC GRAPH ------------*/
diff --git a/unitTesting/test_djj.cpp b/unitTesting/test_djj.cpp
index 0538e8a52105074cf027e77cae9c8aedee2254b0..22e013e0a2bea83392826ef0405dbf7b38a357ba 100644
--- a/unitTesting/test_djj.cpp
+++ b/unitTesting/test_djj.cpp
@@ -5,17 +5,17 @@
  *
  * 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 <string>
diff --git a/unitTesting/test_dyn.cpp b/unitTesting/test_dyn.cpp
index f0d0dc951b0070e828aefa8ca1fe51faebf17daf..8b4cc4def94e1c0934ed0acb73d3faa9d0a37c60 100644
--- a/unitTesting/test_dyn.cpp
+++ b/unitTesting/test_dyn.cpp
@@ -5,23 +5,23 @@
  *
  * 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/>.
  */
 
 /* -------------------------------------------------------------------------- */
 /* --- INCLUDES ------------------------------------------------------------- */
 /* -------------------------------------------------------------------------- */
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 #include <iostream>
 #include <sstream>
 
diff --git a/unitTesting/test_results.cpp b/unitTesting/test_results.cpp
index d951fec7b241243fe4ec5afae646133a08cc5d37..d8cf75004767a85119b0854d5a0ad7311d212d0a 100644
--- a/unitTesting/test_results.cpp
+++ b/unitTesting/test_results.cpp
@@ -5,17 +5,17 @@
  *
  * 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/>.
  */
 
 /* --------------------------------------------------------------------- */