diff --git a/humanoid_modules/cfg/ActionModule.cfg b/humanoid_modules/cfg/ActionModule.cfg
index bb09ff9d4d69a9ec385bebe9d7e0aef60cf8890c..6b6abc0e68bbbbbb05b3e8e8029e484899fe6c27 100755
--- a/humanoid_modules/cfg/ActionModule.cfg
+++ b/humanoid_modules/cfg/ActionModule.cfg
@@ -53,4 +53,4 @@ motion_action.add("timeout_s",     double_t,  0,                               "
 motion_action.add("enable_timeout",bool_t,    0,                               "Enable action timeout ",         True)
 
 
-exit(gen.generate(PACKAGE, "ActionModule", "ActionModule"))
+exit(gen.generate(PACKAGE, "ActionModuleAlgorithm", "ActionModule"))
diff --git a/humanoid_modules/cfg/GripperModule.cfg b/humanoid_modules/cfg/GripperModule.cfg
index 222320046b9b91059034d07ee5b47fe215ac8c31..1e8198bc969f730f62c1bab4167740b90c60246e 100755
--- a/humanoid_modules/cfg/GripperModule.cfg
+++ b/humanoid_modules/cfg/GripperModule.cfg
@@ -53,4 +53,4 @@ motion_action.add("timeout_s",     double_t,  0,                               "
 motion_action.add("enable_timeout",bool_t,    0,                               "Enable action timeout ",         True)
 
 
-exit(gen.generate(PACKAGE, "GripperModule", "GripperModule"))
+exit(gen.generate(PACKAGE, "GripperModuleAlgorithm", "GripperModule"))
diff --git a/humanoid_modules/cfg/HeadTrackingModule.cfg b/humanoid_modules/cfg/HeadTrackingModule.cfg
index 6be156ee8f87e4fb6f36dcc0a28ecc745470979d..7d912c9cda0b2a97bcc805484bfd80f22e00f1ee 100755
--- a/humanoid_modules/cfg/HeadTrackingModule.cfg
+++ b/humanoid_modules/cfg/HeadTrackingModule.cfg
@@ -66,4 +66,4 @@ motion_action.add("timeout_s",     double_t,  0,                               "
 motion_action.add("enable_timeout",bool_t,    0,                               "Enable action timeout ",         False)
 
 
-exit(gen.generate(PACKAGE, "HeadTrackingModule", "HeadTrackingModule"))
+exit(gen.generate(PACKAGE, "HeadTrackingModuleAlgorithm", "HeadTrackingModule"))
diff --git a/humanoid_modules/cfg/JointsCartModule.cfg b/humanoid_modules/cfg/JointsCartModule.cfg
index 3c7a9dea0d8fb9325eae65af04937953c95f057d..b7c742e6c4984322d9b728f887223a5442acea1b 100755
--- a/humanoid_modules/cfg/JointsCartModule.cfg
+++ b/humanoid_modules/cfg/JointsCartModule.cfg
@@ -55,4 +55,4 @@ motion_action.add("feedback_watchdog_time_s",double_t,    0,                   "
 motion_action.add("timeout_s",     double_t,  0,                               "Maximum time allowed to complete the action",    1,   0.1,    30)
 motion_action.add("enable_timeout",bool_t,    0,                               "Enable action timeout ",         True)
 
-exit(gen.generate(PACKAGE, "JointsCartModule", "JointsCartModule"))
+exit(gen.generate(PACKAGE, "JointsCartModuleAlgorithm", "JointsCartModule"))
diff --git a/humanoid_modules/cfg/JointsModule.cfg b/humanoid_modules/cfg/JointsModule.cfg
index 19d733c41e41e9bab467af16f4293bd308ef3cc5..45d1efc0c2a1142771e70198b3473d920b5ab19c 100755
--- a/humanoid_modules/cfg/JointsModule.cfg
+++ b/humanoid_modules/cfg/JointsModule.cfg
@@ -53,4 +53,4 @@ joint_trajectory_action.add("timeout_s",     double_t,  0,
 joint_trajectory_action.add("enable_timeout",bool_t,    0,                               "Enable joints timeout ",         True)
 
 
-exit(gen.generate(PACKAGE, "JointsModule", "JointsModule"))
+exit(gen.generate(PACKAGE, "JointsModuleAlgorithm", "JointsModule"))
diff --git a/humanoid_modules/cfg/SearchModule.cfg b/humanoid_modules/cfg/SearchModule.cfg
index 579aaec702cfb5d086f41792b1467110c1005634..bcf91f95416073d9223000738cbd2260d20d3889 100755
--- a/humanoid_modules/cfg/SearchModule.cfg
+++ b/humanoid_modules/cfg/SearchModule.cfg
@@ -46,4 +46,4 @@ gen.add("rate_hz",                 double_t,  0,                               "
 gen.add("enable",                  bool_t,    0,                               "Enable execution",        True)
 
 
-exit(gen.generate(PACKAGE, "SearchModule", "SearchModule"))
+exit(gen.generate(PACKAGE, "SearchModuleAlgorithm", "SearchModule"))
diff --git a/humanoid_modules/cfg/StairsModule.cfg b/humanoid_modules/cfg/StairsModule.cfg
index 7e84ae83fb6e620a89d3df45a404ed7d2130aac2..158884f816ac2af864e732493f06cda27aad183d 100755
--- a/humanoid_modules/cfg/StairsModule.cfg
+++ b/humanoid_modules/cfg/StairsModule.cfg
@@ -58,4 +58,4 @@ stairs_action.add("feedback_watchdog_time_s",double_t,    0,                   "
 stairs_action.add("timeout_s",     double_t,  0,                               "Maximum time allowed to complete the action",    1,   0.1,    30)
 stairs_action.add("enable_timeout",bool_t,    0,                               "Enable joints timeout ",         True)
 
-exit(gen.generate(PACKAGE, "StairsModule", "StairsModule"))
+exit(gen.generate(PACKAGE, "StairsModuleAlgorithm", "StairsModule"))
diff --git a/humanoid_modules/cfg/TrackingModule.cfg b/humanoid_modules/cfg/TrackingModule.cfg
index 609f5df167b0dd4e39f7830fadb8adc5b79e50a5..32a7d052b20496aa0a7e0008ecc9e8693ebdac20 100755
--- a/humanoid_modules/cfg/TrackingModule.cfg
+++ b/humanoid_modules/cfg/TrackingModule.cfg
@@ -45,4 +45,4 @@ joint_trajectory_action = gen.add_group("Joint trajectory")
 gen.add("rate_hz",                 double_t,  0,                               "Joints module rate in Hz",       1.0,      1.0,  100.0)
 gen.add("enable",                  bool_t,    0,                               "Enable execution",        True)
 
-exit(gen.generate(PACKAGE, "TrackingModule", "TrackingModule"))
+exit(gen.generate(PACKAGE, "TrackingModuleAlgorithm", "TrackingModule"))
diff --git a/humanoid_modules/cfg/WalkModule.cfg b/humanoid_modules/cfg/WalkModule.cfg
index 8cf73dfaf9d90b58426c5ef6e265e0633b43fa27..a5fc8388e9369e0a0939898cb25bd7205e0291f8 100755
--- a/humanoid_modules/cfg/WalkModule.cfg
+++ b/humanoid_modules/cfg/WalkModule.cfg
@@ -53,4 +53,4 @@ set_params.add("set_params_max_retries",int_t,  0,                             "
 
 get_params.add("get_params_max_retries",int_t,  0,                             "Maximum number of retries for the set modules service",        1,    1,    10)
 
-exit(gen.generate(PACKAGE, "WalkModule", "WalkModule"))
+exit(gen.generate(PACKAGE, "WalkModuleAlgorithm", "WalkModule"))