diff --git a/unitTesting/python/dynamic_walk.py b/unitTesting/python/dynamic_walk.py
index 7b36e463a5d210b8efd83cfe1a944da75176d477..23699b17e16be0923a936717643729ae6faa97b3 100755
--- a/unitTesting/python/dynamic_walk.py
+++ b/unitTesting/python/dynamic_walk.py
@@ -24,8 +24,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
 
 from dynamic_graph import enableTrace, plug
 
-from tools import *
-
+from dynamic_graph.sot.dynamics.tools import *
 
 class HalfStep:
     startX = 0.
diff --git a/unitTesting/python/feet_follower.py b/unitTesting/python/feet_follower.py
index 043179d7160ddf257bd08f8fd01af8f10071eb0b..1576e439103ae95954ee4d9f29536ea8b2a3e279 100755
--- a/unitTesting/python/feet_follower.py
+++ b/unitTesting/python/feet_follower.py
@@ -15,7 +15,7 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 from dynamic_graph.sot.dynamics.feet_follower import FeetFollowerFromFile
 feetFollower = FeetFollowerFromFile('feet-follower')
diff --git a/unitTesting/python/quasistatic_walking.py b/unitTesting/python/quasistatic_walking.py
index e3608d4576cf60093e5301eb49cfa672b1321b4b..3de2bc0e4f003cd8626be8cf1a26d63aec18780d 100755
--- a/unitTesting/python/quasistatic_walking.py
+++ b/unitTesting/python/quasistatic_walking.py
@@ -21,8 +21,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
 
 from dynamic_graph import enableTrace, plug
 
-from tools import *
-
+from dynamic_graph.sot.dynamics.tools import *
 
 class QuasiStaticWalking:
     leftFoot = 0
@@ -155,13 +154,12 @@ class QuasiStaticWalking:
 
 # Push tasks
 #  Feet tasks.
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
 
 #  Center of mass
 # FIXME: trigger segv at exit.
-solver.sot.push(robot.name + '.task.com')
-
+solver.sot.push(robot.comTask.name)
 
 # Main.
 
diff --git a/unitTesting/python/reach_both_hands.py b/unitTesting/python/reach_both_hands.py
index 9658c8d6473096541d3559e8df957c6cd892d6c4..ab853dc52f0f4aed7927affe4c16e08e437c4b0a 100755
--- a/unitTesting/python/reach_both_hands.py
+++ b/unitTesting/python/reach_both_hands.py
@@ -16,7 +16,7 @@
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
 import sys
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 # Move left wrist
 reach(robot, 'left-wrist', 0.25, 0.25, 0.5)
@@ -24,13 +24,13 @@ reach(robot, 'right-wrist', 0.25, -0.25, 0.5)
 
 # Push tasks
 #  Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
 
 #  Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
 
 # Main.
 #  Main loop
diff --git a/unitTesting/python/reach_left_hand.py b/unitTesting/python/reach_left_hand.py
index 941024745059cf6901a9e0f46d749cf38fec355c..bbb8e0e35613e2347cd98a39f7227a7ffd0bf099 100755
--- a/unitTesting/python/reach_left_hand.py
+++ b/unitTesting/python/reach_left_hand.py
@@ -16,20 +16,20 @@
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
 import sys
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 # Move left wrist
 reach(robot, 'left-wrist', 0.25, 0, 0.1)
 
 # Push tasks
 #  Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
 
 #  Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
 
 # Main.
 #  Main loop
diff --git a/unitTesting/python/reach_right_hand.py b/unitTesting/python/reach_right_hand.py
index 834cef6d4f2d72f0e224b093a10a0588b2ec5c73..e6fb07f7ec9ae07514be505b1543e7e39e72556c 100755
--- a/unitTesting/python/reach_right_hand.py
+++ b/unitTesting/python/reach_right_hand.py
@@ -15,20 +15,20 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 # Move right wrist
 reach(robot, 'right-wrist', 0.25, 0, 0.1)
 
 # Push tasks
 #  Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
 
 #  Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
 
 # Main.
 #  Main loop