diff --git a/demos/processor_ft_preint.yaml b/demos/processor_ft_preint.yaml
index d9b49d70b860fe2e3029a4cc9bd62ffcc2fdc6c8..e9d8c3b37000e40a58ac253eaec04a96f0ae4232 100644
--- a/demos/processor_ft_preint.yaml
+++ b/demos/processor_ft_preint.yaml
@@ -1,5 +1,5 @@
-type: "ProcessorForceTorquePreint"         # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-name: "PFTPreint"    # This is ignored. The name provided to the SensorFactory prevails
+type: "ProcessorForceTorque"         # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "PFT"    # This is ignored. The name provided to the SensorFactory prevails
 time_tolerance: 0.0005         # Time tolerance for joining KFs
 unmeasured_perturbation_std: 0.0000000
 sensor_ikin_name: "SenIK"
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index f081a39fb7c26c86205804c7e537dcd44901fc36..4c5d6f0d07cacd04b3d598c1503b7e96ed013d37 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -296,8 +296,8 @@ int main (int argc, char **argv) {
     params_sen_ft->dist_traveled = 20000.0;
     params_sen_ft->angle_turned = 1000;
     params_sen_ft->voting_active = false;
-    ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFTPreint", sen_ft, params_sen_ft);
-    // ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFTPreint", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint.yaml");
+    ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFT", sen_ft, params_sen_ft);
+    // ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFT", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint.yaml");
     ProcessorForceTorquePtr proc_ftpreint = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
 
     // SENSOR + PROCESSOR POINT FEET NOMOVE
diff --git a/test/gtest_processor_force_torque.cpp b/test/gtest_processor_force_torque.cpp
index ee8d7b941eb8c9fd2f5b8a39adf21b17efbcca77..6747c4ab66e1cf038ffb68d451da84ec8ba78c9c 100644
--- a/test/gtest_processor_force_torque.cpp
+++ b/test/gtest_processor_force_torque.cpp
@@ -150,8 +150,8 @@ public:
         params_sen_ft->dist_traveled = 20000.0;
         params_sen_ft->angle_turned = 1000;
         params_sen_ft->voting_active = true;
-        ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFTPreint", sen_ft_, params_sen_ft);
-        // ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFTPreint", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
+        ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFT", sen_ft_, params_sen_ft);
+        // ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFT", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
         proc_ftpreint_ = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
     }