diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5dc146fa31ce8179c45cf0c50eea777f53258c93..022a89eec620212c6bc607a42951910a35e1bb9e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -95,7 +95,7 @@ message("UPPER_NAME ${UPPER_NAME}")
 
 
 #find dependencies.
-FIND_PACKAGE(wolf REQUIRED)
+FIND_PACKAGE(wolfcore REQUIRED)
 FIND_PACKAGE(wolfimu REQUIRED)
 
 # Define the directory where will be the configured config.h
@@ -115,7 +115,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_D
 include_directories("${PROJECT_BINARY_DIR}/conf")
 
 include_directories("include")
-include_directories(${wolf_INCLUDE_DIRS})
+include_directories(${wolfcore_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(${wolfimu_INCLUDE_DIRS})
 
 #HEADERS
@@ -200,7 +200,7 @@ endif()
 
 
 
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolf_LIBRARIES})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
 # Link the library with the required dependencies
 # TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfimu_INCLUDE_DIRS)
 
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
deleted file mode 100644
index 4ff944f2ffccea98faba230f382774a82f6ff2cc..0000000000000000000000000000000000000000
--- a/cmake_modules/wolfConfig.cmake
+++ /dev/null
@@ -1,89 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(
-    wolfbodydynamics_INCLUDE_DIRS
-    NAMES bodydynamics.found
-    PATHS /usr/local/include/iri-algorithms/wolf/plugin_bodydynamics)
-IF(wolfbodydynamics_INCLUDE_DIRS)
-  MESSAGE("Found bodydynamics include dirs: ${wolfbodydynamics_INCLUDE_DIRS}")
-ELSE(wolfbodydynamics_INCLUDE_DIRS)
-  MESSAGE("Couldn't find bodydynamics include dirs")
-ENDIF(wolfbodydynamics_INCLUDE_DIRS)
-
-FIND_LIBRARY(
-    wolfbodydynamics_LIBRARIES
-    NAMES libwolfbodydynamics.so libwolfbodydynamics.dylib
-    PATHS /usr/local/lib/iri-algorithms)
-IF(wolfbodydynamics_LIBRARIES)
-  MESSAGE("Found bodydynamics lib: ${wolfbodydynamics_LIBRARIES}")
-ELSE(wolfbodydynamics_LIBRARIES)
-  MESSAGE("Couldn't find wolf bodydynamics lib")
-ENDIF(wolfbodydynamics_LIBRARIES)
-
-IF (wolfbodydynamics_INCLUDE_DIRS AND wolfbodydynamics_LIBRARIES)
-   SET(wolfbodydynamics_FOUND TRUE)
- ELSE(wolfbodydynamics_INCLUDE_DIRS AND wolfbodydynamics_LIBRARIES)
-   set(wolfbodydynamics_FOUND FALSE)
-ENDIF (wolfbodydynamics_INCLUDE_DIRS AND wolfbodydynamics_LIBRARIES)
-
-IF (wolfbodydynamics_FOUND)
-   IF (NOT wolfbodydynamics_FIND_QUIETLY)
-      MESSAGE(STATUS "Found bodydynamics: ${wolfbodydynamics_LIBRARIES}")
-   ENDIF (NOT wolfbodydynamics_FIND_QUIETLY)
-ELSE (wolfbodydynamics_FOUND)
-   IF (wolfbodydynamics_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find wolf bodydynamics")
-   ENDIF (wolfbodydynamics_FIND_REQUIRED)
-ENDIF (wolfbodydynamics_FOUND)
-
-
-macro(wolf_report_not_found REASON_MSG)
-  set(wolfbodydynamics_FOUND FALSE)
-  unset(wolfbodydynamics_INCLUDE_DIRS)
-  unset(wolfbodydynamics_LIBRARIES)
-
-  # Reset the CMake module path to its state when this script was called.
-  set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
-
-  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
-  # FindPackage() use the camelcase library name, not uppercase.
-  if (wolfbodydynamics_FIND_QUIETLY)
-    message(STATUS "Failed to find wolfbodydynamics- " ${REASON_MSG} ${ARGN})
-  else (wolfbodydynamics_FIND_REQUIRED)
-    message(FATAL_ERROR "Failed to find wolfbodydynamics - " ${REASON_MSG} ${ARGN})
-  else()
-    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
-    # that prevents generation, but continues configuration.
-    message(SEND_ERROR "Failed to find wolfbodydynamics - " ${REASON_MSG} ${ARGN})
-  endif ()
-  return()
-endmacro(wolf_report_not_found)
-
-if(NOT wolfbodydynamics_FOUND)
-  wolf_report_not_found("Something went wrong while setting up wolf bodydynamics.")
-endif(NOT wolfbodydynamics_FOUND)
-# Set the include directories for wolf (itself).
-set(wolfbodydynamics_FOUND TRUE)
-
-# Suppose that our plugin requires openCV & vision_utils
-
-FIND_PACKAGE(vision_utils REQUIRED)
-list(APPEND wolfbodydynamics_INCLUDE_DIRS ${vision_utils_INCLUDE_DIR})
-list(APPEND wolfbodydynamics_LIBRARIES ${vision_utils_LIBRARY})
-
-FIND_PACKAGE(OpenCV REQUIRED)
-list(APPEND wolfbodydynamics_INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS})
-list(APPEND wolfbodydynamics_LIBRARIES ${OpenCV_LIBS})
-
-#Making sure wolf is looked for
-if(NOT wolf_FOUND)
-  FIND_PACKAGE(wolf REQUIRED)
-
-  #We reverse in order to insert at the start
-  list(REVERSE wolfbodydynamics_INCLUDE_DIRS)
-  list(APPEND wolfbodydynamics_INCLUDE_DIRS ${wolf_INCLUDE_DIRS})
-  list(REVERSE wolfbodydynamics_INCLUDE_DIRS)
-
-  list(REVERSE wolfbodydynamics_LIBRARIES)
-  list(APPEND wolfbodydynamics_LIBRARIES ${wolf_LIBRARIES})
-  list(REVERSE wolfbodydynamics_LIBRARIES)
-endif()
\ No newline at end of file
diff --git a/cmake_modules/wolfbodydynamicsConfig.cmake b/cmake_modules/wolfbodydynamicsConfig.cmake
index 050a2367341c643d938f88c0ef7438ef7e34a0a9..b7892af3f5a97fde7ce130c0571d340a4929194f 100644
--- a/cmake_modules/wolfbodydynamicsConfig.cmake
+++ b/cmake_modules/wolfbodydynamicsConfig.cmake
@@ -73,14 +73,14 @@ set(wolfbodydynamics_FOUND TRUE)
 
 # Making sure that wolf is always looked for
 if(NOT wolf_FOUND)
-  FIND_PACKAGE(wolf REQUIRED)
+  FIND_PACKAGE(wolfcore REQUIRED)
 
   #We reverse in order to insert at the start
   list(REVERSE wolfbodydynamics_INCLUDE_DIRS)
-  list(APPEND wolfbodydynamics_INCLUDE_DIRS ${wolf_INCLUDE_DIRS})
+  list(APPEND wolfbodydynamics_INCLUDE_DIRS ${wolfcore_INCLUDE_DIRS})
   list(REVERSE wolfbodydynamics_INCLUDE_DIRS)
 
   list(REVERSE wolfbodydynamics_LIBRARIES)
-  list(APPEND wolfbodydynamics_LIBRARIES ${wolf_LIBRARIES})
+  list(APPEND wolfbodydynamics_LIBRARIES ${wolfcore_LIBRARIES})
   list(REVERSE wolfbodydynamics_LIBRARIES)
 endif()
\ No newline at end of file
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 7108b33b0cb7581abcd72bb88231efb2eeb63881..2195b83987881c6e11b180b7b1cb575e30ab4755 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -25,7 +25,7 @@ target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OT
 
 
 target_link_libraries(mcapi_povcdl_estimation
-    ${wolf_LIBRARIES}
+    ${wolfcore_LIBRARIES}
     ${wolfimu_LIBRARIES}
     ${PLUGIN_NAME}
     ${MCAPI_LIBRARIES}