diff --git a/CMakeLists.txt b/CMakeLists.txt
index 17311cabf..4d9fcdb77 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,7 +61,7 @@ IF(BUILD_PYTHON_INTERFACE)
   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.4.0")
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-ADD_COMPILE_DEPENDENCY ("pinocchio >= 2.0.0")
+ADD_COMPILE_DEPENDENCY ("pinocchio >= 2.2.1")
 
 SEARCH_FOR_BOOST()
 
diff --git a/unitTesting/features/test_feature_generic.cpp b/unitTesting/features/test_feature_generic.cpp
index c77b282e0..304b4b5e7 100644
--- a/unitTesting/features/test_feature_generic.cpp
+++ b/unitTesting/features/test_feature_generic.cpp
@@ -311,15 +311,15 @@ class TestFeaturePose : public FeatureTestBase {
     pinocchio::buildModels::humanoid(model_, true); // use freeflyer
     model_.lowerPositionLimit.head<3>().setConstant(-1.);
     model_.upperPositionLimit.head<3>().setConstant(1.);
-    jb_ = model_.getJointId("rarmwrist2_joint");
+    jb_ = model_.getJointId("rarm_wrist2_joint");
     fb_ = model_.addFrame(pinocchio::Model::Frame(
-        "frame_b", jb_, model_.getFrameId("rarmwrist2_joint", pinocchio::JOINT),
+        "frame_b", jb_, model_.getFrameId("rarm_wrist2_joint", pinocchio::JOINT),
         SE3::Identity(), pinocchio::OP_FRAME));
     if (relative) {
-      ja_ = model_.getJointId("larmwrist2_joint");
+      ja_ = model_.getJointId("larm_wrist2_joint");
       fa_ = model_.addFrame(pinocchio::Model::Frame(
           "frame_a", ja_,
-          model_.getFrameId("larmwrist2_joint", pinocchio::JOINT),
+          model_.getFrameId("larm_wrist2_joint", pinocchio::JOINT),
           SE3::Identity(), pinocchio::OP_FRAME));
     } else {
       ja_ = 0;