patch-ad

diff --git src/CMakeLists.txt src/CMakeLists.txt
index db40b6f..dc75a50 100644
--- src/CMakeLists.txt
+++ src/CMakeLists.txt
@@ -39,7 +39,7 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
 ENDFUNCTION()
 
 # Compile plug-ins.
-COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
+# COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
 
 
 ## 
diff --git src/dynamic-romeo.cpp src/dynamic-romeo.cpp
index 9d9daa8..b419cfd 100644
--- src/dynamic-romeo.cpp
+++ src/dynamic-romeo.cpp
@@ -35,7 +35,6 @@ namespace dynamicgraph
 	: Dynamic (name)
       {
 	sotDEBUGIN(15);
-	DynamicRomeo::createRobot();
 	sotDEBUGOUT(15);
       }
 
diff --git src/dynamic_graph/sot/romeo/robot.py src/dynamic_graph/sot/romeo/robot.py
index e9ea89f..9fce636 100644
--- src/dynamic_graph/sot/romeo/robot.py
+++ src/dynamic_graph/sot/romeo/robot.py
@@ -16,7 +16,7 @@
 
 from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
 from dynamic_graph.ros import RosRobotModel
-
+import pinocchio as se3
 from rospkg import RosPack
 
 # Sot model for the romeo_small.urdf (with gripper, no fingers)
@@ -204,6 +204,12 @@ class Robot (AbstractHumanoidRobot):
         self.dynamic = RosRobotModel("{0}_dynamic".format(name))
         for i in self.jointMap:
             self.dynamic.addJointMapping(i, self.jointMap[i])
+
+        self.pinocchioModel = se3.buildModelFromUrdf(self.urdfDir + self.urdfName,
+                                                     se3.JointModelFreeFlyer())
+        self.pinocchioData = self.pinocchioModel.createData()
+        self.dynamic.setModel(self.pinocchioModel)
+        self.dynamic.setData(self.pinocchioData)
         self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
 
         # complete feet position (TODO: move it into srdf file)