diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index a9f52035066348852f9a296504e414520669656e..02a07f6c138bab362d7a2357aa23dc63d2b6826e 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -68,12 +68,12 @@
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
 #include "bodydynamics/sensor/sensor_force_torque.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
-#include "bodydynamics/capture/capture_force_torque_preint.h"
+#include "bodydynamics/capture/capture_force_torque_.h"
 #include "bodydynamics/capture/capture_leg_odom.h"
 #include "bodydynamics/processor/processor_inertial_kinematics.h"
-#include "bodydynamics/processor/processor_force_torque_preint.h"
+#include "bodydynamics/processor/processor_force_torque_.h"
 #include "bodydynamics/factor/factor_inertial_kinematics.h"
-#include "bodydynamics/factor/factor_force_torque_preint.h"
+#include "bodydynamics/factor/factor_force_torque_.h"
 
 #include "bodydynamics/sensor/sensor_point_feet_nomove.h"
 #include "bodydynamics/processor/processor_point_feet_nomove.h"
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 82d2df1c42da66a66e6894fe49e037b4a04259cd..8ae580418ec8691b984c8a5c3a11e1c3ea81aab5 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -68,12 +68,12 @@
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
 #include "bodydynamics/sensor/sensor_force_torque.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
-#include "bodydynamics/capture/capture_force_torque_preint.h"
+#include "bodydynamics/capture/capture_force_torque_.h"
 #include "bodydynamics/capture/capture_leg_odom.h"
 #include "bodydynamics/processor/processor_inertial_kinematics.h"
-#include "bodydynamics/processor/processor_force_torque_preint.h"
+#include "bodydynamics/processor/processor_force_torque_.h"
 #include "bodydynamics/factor/factor_inertial_kinematics.h"
-#include "bodydynamics/factor/factor_force_torque_preint.h"
+#include "bodydynamics/factor/factor_force_torque_.h"
 
 #include "bodydynamics/capture/capture_point_feet_nomove.h"
 #include "bodydynamics/sensor/sensor_point_feet_nomove.h"
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index a2a1b32f1da4fe3c0fb58db6f6405cc3ae45fab1..f081a39fb7c26c86205804c7e537dcd44901fc36 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -58,12 +58,12 @@
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
 #include "bodydynamics/sensor/sensor_force_torque.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
-#include "bodydynamics/capture/capture_force_torque_preint.h"
+#include "bodydynamics/capture/capture_force_torque_.h"
 #include "bodydynamics/capture/capture_leg_odom.h"
 #include "bodydynamics/processor/processor_inertial_kinematics.h"
-#include "bodydynamics/processor/processor_force_torque_preint.h"
+#include "bodydynamics/processor/processor_force_torque_.h"
 #include "bodydynamics/factor/factor_inertial_kinematics.h"
-#include "bodydynamics/factor/factor_force_torque_preint.h"
+#include "bodydynamics/factor/factor_force_torque_.h"
 
 #include "bodydynamics/capture/capture_point_feet_nomove.h"
 #include "bodydynamics/sensor/sensor_point_feet_nomove.h"
diff --git a/test/gtest_processor_force_torque_inertial_preint.cpp b/test/gtest_processor_force_torque_inertial.cpp
similarity index 99%
rename from test/gtest_processor_force_torque_inertial_preint.cpp
rename to test/gtest_processor_force_torque_inertial.cpp
index 38910f16f75a89f70432c4d67ec1e9e0d60403a9..bc17e37e2d8b5652c948be2dc6e5887fc244ce8f 100644
--- a/test/gtest_processor_force_torque_inertial_preint.cpp
+++ b/test/gtest_processor_force_torque_inertial.cpp
@@ -26,7 +26,7 @@
  *      Author: jsola
  */
 
-#include "bodydynamics/processor/processor_force_torque_inertial_preint.h"
+#include "bodydynamics/processor/processor_force_torque_inertial.h"
 
 #include "core/utils/utils_gtest.h"
 #include "core/utils/logging.h"
diff --git a/test/yaml/problem_force_torque_inertial.yaml b/test/yaml/problem_force_torque_inertial.yaml
index f18812eb7c1b8b5ed2295a3e4c16c412d6531ee4..e2ae117aee579fb6f444cce6f378b2f1c673e739 100644
--- a/test/yaml/problem_force_torque_inertial.yaml
+++ b/test/yaml/problem_force_torque_inertial.yaml
@@ -35,5 +35,5 @@ config:
     type: "ProcessorForceTorqueInertial"
     sensor_name: "sensor FTI"
     plugin: "bodydynamics"
-    follow: "processor_force_torque_inertial_preint.yaml"
+    follow: "processor_force_torque_inertial.yaml"
     
\ No newline at end of file
diff --git a/test/yaml/problem_force_torque_inertial_dynamics.yaml b/test/yaml/problem_force_torque_inertial_dynamics.yaml
index 029d216cce1c0a3f1b9de1f49aa2824134e03009..207b69bba5597a63cc41167fbe7a3106ffa4606a 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics.yaml
@@ -35,5 +35,5 @@ config:
     type: "ProcessorForceTorqueInertialDynamics"
     sensor_name: "sensor FTI"
     plugin: "bodydynamics"
-    follow: "processor_force_torque_inertial_preint_dynamics.yaml"
+    follow: "processor_force_torque_inertial_dynamics.yaml"
     
\ No newline at end of file
diff --git a/test/yaml/processor_force_torque_inertial_preint.yaml b/test/yaml/processor_force_torque_inertial.yaml
similarity index 100%
rename from test/yaml/processor_force_torque_inertial_preint.yaml
rename to test/yaml/processor_force_torque_inertial.yaml
diff --git a/test/yaml/processor_force_torque_inertial_preint_dynamics.yaml b/test/yaml/processor_force_torque_inertial_dynamics.yaml
similarity index 100%
rename from test/yaml/processor_force_torque_inertial_preint_dynamics.yaml
rename to test/yaml/processor_force_torque_inertial_dynamics.yaml