diff --git a/CMakeLists.txt b/CMakeLists.txt
index b492added..f28bd7443 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,7 +55,7 @@ IF(BUILD_PYTHON_INTERFACE)
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
 ENDIF(BUILD_PYTHON_INTERFACE)
-ADD_COMPILE_DEPENDENCY ("pinocchio")
+ADD_COMPILE_DEPENDENCY ("pinocchio >= 2.0.0")
 
 SEARCH_FOR_BOOST()
 
diff --git a/src/tools/device.cpp b/src/tools/device.cpp
index 972f35127..03ca73bed 100644
--- a/src/tools/device.cpp
+++ b/src/tools/device.cpp
@@ -41,7 +41,7 @@ void Device::integrateRollPitchYaw(Vector& state, const Vector& control,
   using Eigen::Vector3d;
   using Eigen::QuaternionMapd;
 
-  typedef se3::SpecialEuclideanOperation<3> SE3;
+  typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3;
   Eigen::Matrix<double, 7, 1> qin, qout;
   qin.head<3>() = state.head<3>();