diff --git a/README.md b/README.md
index db11849e..c48d9d5e 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ The **Simple-mpc** library provides:
 ```bash
 mkdir -p simple-mpc_ws/src
 cd simple-mpc_ws/src
-git clone git@github.com:edantec/simple-mpc.git --recursive
+git clone git@github.com:Simple-Robotics/simple-mpc.git --recursive
 ```
 
 2. Create conda environment.
@@ -37,11 +37,12 @@ mamba activate simple-mpc-devel
 vcs import --recursive < simple-mpc/devel-git-deps.yaml
 ```
 
-4. Build all packages
+4. Build all dependencies of simple-mpc:
+(Due to a renaming issue, you may need to rename hpp-fcl into coal in the package.xml file of the Pinocchio library)
 ```bash
 export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number.
 cd ..
-colcon build --event-handlers console_direct+ --cmake-args \
+colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cmake-args \
 -DCMAKE_BUILD_TYPE=Release             \
 -DCMAKE_PREFIX_PATH=$CONDA_PREFIX      \
 -DPYTHON_EXECUTABLE=$(which python)    \
@@ -52,11 +53,18 @@ colcon build --event-handlers console_direct+ --cmake-args \
 -DBUILD_BENCHMARK=OFF                  \
 -DBUILD_BENCHMARKS=OFF                 \
 -DBUILD_WITH_COLLISION_SUPPORT=ON      \
--DGENERATE_PYTHON_STUBS=OFF
+-DGENERATE_PYTHON_STUBS=OFF            \
+-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
 ```
 
-5. Source the environment
-(This step need to be repeated every time a new shell is opened. It can be put in your ~/.bashrc)
+5. Source the environment and install simple-mpc:
+```bash
+source install/setup.bash
+colcon build --packages-select simple-mpc
+```
+
+6. Source the environment one more time
+(This step needs to be repeated every time a new shell is opened. It can be put in your ~/.bashrc)
 ```bash
 mamba activate simple-mpc-devel # If not already done
 source install/setup.bash
diff --git a/devel-git-deps.yaml b/devel-git-deps.yaml
index 930c4dcc..383ee5e4 100644
--- a/devel-git-deps.yaml
+++ b/devel-git-deps.yaml
@@ -21,8 +21,8 @@ repositories:
     version: master
   pinocchio:
     type: git
-    url: git@gitlab.inria.fr:jucarpen/pinocchio.git
-    version: topic/simulation
+    url: git@github.com:stack-of-tasks/pinocchio.git
+    version: devel
   proxsuite-nlp:
     type: git
     url: git@github.com:simple-robotics/proxsuite-nlp.git