diff --git a/dynamic-graph-bridge-v3/PLIST b/dynamic-graph-bridge-v3/PLIST
index a2992158a7b4735ad46633b12a18ed6633ec9798..f25680eb8119d0be9deeb6c2ab84b0b1756a4f44 100644
--- a/dynamic-graph-bridge-v3/PLIST
+++ b/dynamic-graph-bridge-v3/PLIST
@@ -13,14 +13,11 @@ lib/libros_bridge.so
lib/libros_interpreter.so
lib/libsot_loader.so
lib/pkgconfig/dynamic_graph_bridge.pc
-lib/plugin/robot_model.so
lib/plugin/ros_joint_state.so
lib/plugin/ros_publish.so
lib/plugin/ros_subscribe.so
lib/plugin/ros_time.so
${PYTHON_SITELIB}/dynamic_graph/ros/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/wrap.so
${PYTHON_SITELIB}/dynamic_graph/ros/ros.py
${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/wrap.so
diff --git a/dynamic-graph-bridge-v3/depend.mk b/dynamic-graph-bridge-v3/depend.mk
index c650d06b40bbc1314811dadd4d91c9103729a9ff..1c0efd0e49684b5899409d48548cc397faacc389 100644
--- a/dynamic-graph-bridge-v3/depend.mk
+++ b/dynamic-graph-bridge-v3/depend.mk
@@ -24,7 +24,6 @@ DEPEND_ABI.dynamic-graph-bridge-v3.hydro?= dynamic-graph-bridge-v3>=3.0.0
SYSTEM_SEARCH.dynamic-graph-bridge-v3=\
'include/dynamic_graph_bridge/config.hh' \
'lib/pkgconfig/dynamic_graph_bridge.pc:/Version/s/[^0-9.]//gp' \
- 'lib/plugin/robot_model.so' \
'share/dynamic_graph_bridge/robot_pose_publisher' \
'${PYTHON_SITELIB}/dynamic_graph/ros/ros.py'
diff --git a/dynamic-graph-bridge-v3/distinfo b/dynamic-graph-bridge-v3/distinfo
index 5b36f6aae2d9e2a1d283d78cfd8376968dc1835c..80ad51d91a219106ac1084638f6cff8ea4733754 100644
--- a/dynamic-graph-bridge-v3/distinfo
+++ b/dynamic-graph-bridge-v3/distinfo
@@ -3,3 +3,5 @@ RMD160 (dynamic_graph_bridge-v3-3.0.0.tar.gz) = ecf35dc5c50c24a8aa2ba9b53fc2d497
Size (dynamic_graph_bridge-v3-3.0.0.tar.gz) = 742833 bytes
SHA1 (patch-aa) = f1a950bd8ccf882c49dc2de373f12db07b5be852
SHA1 (patch-ab) = c30d3ad301b8e7911908e12398f8da00e0ad57bd
+SHA1 (patch-ac) = f44cf390bd8e05cfaa73a24429d405c0b3125d27
+SHA1 (patch-ad) = d5eb291f46f3aa9a48d121736954d028c938d2d9
diff --git a/dynamic-graph-bridge-v3/patches/patch-ac b/dynamic-graph-bridge-v3/patches/patch-ac
new file mode 100644
index 0000000000000000000000000000000000000000..9ca46601b033b2adf1d4f4aa8efaad49212cec72
--- /dev/null
+++ b/dynamic-graph-bridge-v3/patches/patch-ac
@@ -0,0 +1,134 @@
+diff -Naurb src/dynamic_graph/ros/__init__.py src/dynamic_graph/ros/__init__.py
+--- src/dynamic_graph/ros/__init__.py 2016-04-14 14:43:12.000000000 +0200
++++ src/dynamic_graph/ros/__init__.py 2016-10-05 11:11:51.222830312 +0200
+@@ -1,12 +1,34 @@
++from dynamic_graph.sot.dynamics import Dynamic
+ from ros_publish import RosPublish
+ from ros_subscribe import RosSubscribe
+ from ros_joint_state import RosJointState
+-from robot_model import RosRobotModel
+
+ from ros import Ros
+
+ # aliases, for retro compatibility
+-ros_import = ros_publish
+-ros_export = ros_subscribe
+ from ros import RosPublish as RosImport
+ from ros import RosSubscribe as RosExport
++
++
++class RosRobotModel(Dynamic):
++ def __init__(self, name):
++ Dynamic.__init__(self, name)
++ self.namespace = "sot_controller"
++ self.jointsParameterName_ = "jrl_map"
++
++ def setJointsNamesParameter(self):
++ import rospy
++ if self.model is not None:
++ parameter_name = self.namespace + "/" + jointsParameterName_
++ jointsName = []
++ for i in xrange(self.model.njoints):
++ jointsName.append(self.model.names[i])
++ rospy.set_param(parameter_name,jointsName)
++ return
++
++ def setNamespace(self, ns):
++ self.namespace = ns
++ return
++
++ def curConf(self):
++ return self.position.value
+diff -Naurb src/robot_model.cpp src/robot_model.cpp
+--- src/robot_model.cpp 2016-04-14 14:43:12.000000000 +0200
++++ src/robot_model.cpp 2016-10-05 11:11:51.222830312 +0200
+@@ -58,13 +58,6 @@
+
+ void RosRobotModel::loadUrdf (const std::string& filename)
+ {
+- // jrl::dynamics::urdf::Parser parser;
+-
+- //TODO: Specific rep name. link them to the operational frames in pinocchio
+- // std::map<std::string, std::string>::const_iterator it = specialJoints_.begin();
+- // for (;it!=specialJoints_.end();++it) {
+- // parser.specifyREPName(it->first, it->second);
+- // }
+ rosInit (false);
+ m_model = se3::urdf::buildModel(filename);
+ this->m_urdfPath = filename;
+@@ -89,13 +82,6 @@
+
+ void RosRobotModel::loadFromParameterServer()
+ {
+- //jrl::dynamics::urdf::Parser parser;
+-
+- //TODO: Specific rep name. link them to the operational frames in pinocchio
+- // std::map<std::string, std::string>::const_iterator it = specialJoints_.begin();
+- // for (;it!=specialJoints_.end();++it) {
+- // parser.specifyREPName(it->first, it->second);
+- // }
+ rosInit (false);
+ std::string robotDescription;
+ ros::param::param<std::string> ("/robot_description", robotDescription, "");
+@@ -119,7 +105,8 @@
+
+ XmlRpc::XmlRpcValue JointsNamesByRank_;
+ JointsNamesByRank_.setSize(m_model.names.size());
+- std::vector<std::string>::const_iterator it = m_model.names.begin()+2; //first joint is universe, second is freeflyer
++ //first joint is universe, second is freeflyer
++ std::vector<std::string>::const_iterator it = m_model.names.begin()+2;
+ for (int i=0;it!=m_model.names.end();++it, ++i) JointsNamesByRank_[i]= (*it);
+ nh.setParam(jointsParameterName_, JointsNamesByRank_);
+ }
+diff -Naurb src/ros_joint_state.cpp src/ros_joint_state.cpp
+--- src/ros_joint_state.cpp 2016-10-05 11:33:23.580811195 +0200
++++ src/ros_joint_state.cpp 2016-10-05 11:11:51.210829997 +0200
+@@ -36,23 +36,23 @@
+ }
+
+ namespace {
+- void buildJointNames (sensor_msgs::JointState& jointState, se3::Model& robot_model) {
++ void buildJointNames (sensor_msgs::JointState& jointState, se3::Model* robot_model) {
+ int cnt = 0;
+- for (int i=1;i<robot_model.nbody;i++) {
++ for (int i=1;i<robot_model->njoints;i++) {
+ // Ignore anchors.
+- if (se3::nv(robot_model.joints[i]) != 0) {
++ if (se3::nv(robot_model->joints[i]) != 0) {
+ // If we only have one dof, the dof name is the joint name.
+- if (se3::nv(robot_model.joints[i]) == 1) {
+- jointState.name[cnt] = robot_model.names[i];
++ if (se3::nv(robot_model->joints[i]) == 1) {
++ jointState.name[cnt] = robot_model->names[i];
+ cnt++;
+ }
+ else {
+ // ...otherwise, the dof name is the joint name on which
+ // the dof id is appended.
+- int joint_dof = se3::nv(robot_model.joints[i]);
++ int joint_dof = se3::nv(robot_model->joints[i]);
+ for(int j = 0; j<joint_dof; j++) {
+ boost::format fmt("%1%_%2%");
+- fmt % robot_model.names[i];
++ fmt % robot_model->names[i];
+ fmt % j;
+ jointState.name[cnt + j] = fmt.str();
+ }
+@@ -85,14 +85,14 @@
+ return Value ();
+ }
+
+- se3::Model& robot_model = dynamic->m_model;
+- if (robot_model.nbody == 1)
++ se3::Model* robot_model = dynamic->m_model;
++ if (robot_model->njoints == 1)
+ {
+ std::cerr << "no robot in the dynamic entity" << std::endl;
+ return Value ();
+ }
+
+- entity.jointState ().name.resize (robot_model.nv);
++ entity.jointState ().name.resize (robot_model->nv);
+ buildJointNames (entity.jointState (), robot_model);
+ return Value ();
+ }
diff --git a/dynamic-graph-bridge-v3/patches/patch-ad b/dynamic-graph-bridge-v3/patches/patch-ad
new file mode 100644
index 0000000000000000000000000000000000000000..8c55fd3646ccb54c65424dfcb5cc2cf8155c8560
--- /dev/null
+++ b/dynamic-graph-bridge-v3/patches/patch-ad
@@ -0,0 +1,11 @@
+--- CMakeLists.txt 2016-10-05 11:28:37.653323847 +0200
++++ CMakeLists.txt 2016-10-05 11:11:51.790845238 +0200
+@@ -132,7 +132,7 @@
+
+ target_link_libraries(ros_joint_state "${DYNAMIC_GRAPH_PLUGINDIR}/dynamic.so")
+
+-compile_plugin(robot_model)
++#compile_plugin(robot_model)
+
+ # ros_interperter library.
+ add_library(ros_interpreter src/ros_interpreter.cpp)