diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index b0052f8066b04250051d912727797fdb20569d40..9796de853c787ec17f31ab3384e9ab32e1b9837c 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -199,7 +199,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
 {
     SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
     if (sen_ptr == nullptr)
-        throw std::runtime_error("Sensor not found. Cannot bind Processor.");
+        throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, in must match in sensor and processor!");
     if (_params_filename == "")
         return installProcessor(_prc_type, _unique_processor_name, sen_ptr, nullptr);
     else
@@ -217,7 +217,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
 {
     SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
     if (sen_ptr == nullptr)
-        throw std::runtime_error("Sensor not found. Cannot bind Processor.");
+        throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, in must match in sensor and processor!");
     ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _server, sen_ptr);
     prc_ptr->configure(sen_ptr);
     prc_ptr->link(sen_ptr);
@@ -813,7 +813,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
         // Sensors =======================================================================================
         for (auto S : getHardware()->getSensorList())
         {
-            cout << "  S" << S->id() << " " << S->getType();
+            cout << "  S" << S->id() << " " << S->getType() << " \"" << S->getName() << "\"";
             if (!metric && !state_blocks) cout << (S->isExtrinsicDynamic() ? " [Dyn," : " [Sta,") << (S->isIntrinsicDynamic() ? "Dyn]" : "Sta]");
             if (depth < 2)
                 cout << " -- " << S->getProcessorList().size() << "p";
@@ -860,7 +860,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
                 {
                     if (p->isMotion())
                     {
-                        std::cout << "    pm" << p->id() << " " << p->getType() << endl;
+                        std::cout << "    pm" << p->id() << " " << p->getType() << " \"" << p->getName() << "\"" << endl;
                         ProcessorMotionPtr pm = std::static_pointer_cast<ProcessorMotion>(p);
                         if (pm->getOrigin())
                             cout << "      o: C" << pm->getOrigin()->id() << " - " << (pm->getOrigin()->getFrame()->isKeyOrAux() ? (pm->getOrigin()->getFrame()->isKey() ? "  KF" : "  AuxF" ) : "  F")
@@ -873,17 +873,10 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
                     }
                     else
                     {
-                        cout << "    pt" << p->id() << " " << p->getType() << endl;
+                        cout << "    pt" << p->id() << " " << p->getType() << " \"" << p->getName() << "\"" << endl;
                         ProcessorTrackerPtr pt = std::dynamic_pointer_cast<ProcessorTracker>(p);
                         if (pt)
                         {
-//                            ProcessorTrackerFeatureTrifocalPtr ptt = std::dynamic_pointer_cast<ProcessorTrackerFeatureTrifocal>(pt);
-//                            if (ptt)
-//                            {
-//                                if (ptt->getPrevOrigin())
-//                                    cout << "      p: C" << ptt->getPrevOrigin()->id() << " - " << (ptt->getPrevOrigin()->getFrame()->isEstimated() ? (ptt->getPrevOrigin()->getFrame()->isKey() ? "  KF" : " AuxF") : "  F")
-//                                    << ptt->getPrevOrigin()->getFrame()->id() << endl;
-//                            }
                             if (pt->getOrigin())
                                 cout << "      o: C" << pt->getOrigin()->id() << " - " << (pt->getOrigin()->getFrame()->isKeyOrAux() ? (pt->getOrigin()->getFrame()->isKey() ? "  KF" : " AuxF") : "  F")
                                 << pt->getOrigin()->getFrame()->id() << endl;