diff --git a/binding/python/mc_control/mc_control.pyx b/binding/python/mc_control/mc_control.pyx
index b46aee8344..e9c431f3ef 100644
--- a/binding/python/mc_control/mc_control.pyx
+++ b/binding/python/mc_control/mc_control.pyx
@@ -128,8 +128,6 @@ cdef class MCController(object):
     return self.base.run()
   def reset(self, ControllerResetData data):
     self.base.reset(deref(data.impl))
-  def robot(self):
-    return mc_rbdyn.RobotFromC(self.base.robot())
   def env(self):
     return mc_rbdyn.RobotFromC(self.base.env())
   def robots(self):
@@ -214,7 +212,7 @@ cdef class MCController(object):
     if isinstance(name, unicode):
       name = name.encode(u'ascii')
     if name is None:
-      return MCController.robot(self)
+      return mc_rbdyn.RobotFromC(self.base.robot())
     else:
       return mc_rbdyn.RobotFromC(self.base.robot(name))
   def addContact(self, c, *args):
diff --git a/binding/python/mc_rbdyn/mc_rbdyn.pxd b/binding/python/mc_rbdyn/mc_rbdyn.pxd
index d39e0e6253..717ef0a393 100644
--- a/binding/python/mc_rbdyn/mc_rbdyn.pxd
+++ b/binding/python/mc_rbdyn/mc_rbdyn.pxd
@@ -19,7 +19,7 @@ cdef class Collision(object):
 cdef Collision CollisionFromC(const c_mc_rbdyn.Collision&)
 
 cdef class BodySensor(object):
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
   cdef const c_mc_rbdyn.BodySensor * impl
 
 cdef BodySensor BodySensorFromCRef(const c_mc_rbdyn.BodySensor&)
@@ -30,7 +30,7 @@ cdef class Flexibility(object):
 cdef Flexibility FlexibilityFromC(const c_mc_rbdyn.Flexibility&)
 
 cdef class ForceSensor(object):
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
   cdef const c_mc_rbdyn.ForceSensor  * impl
 
 cdef ForceSensor ForceSensorFromCRef(const c_mc_rbdyn.ForceSensor&)
@@ -90,13 +90,13 @@ cdef CylindricalSurface CylindricalSurfaceFromPtr(c_mc_rbdyn.CylindricalSurface*
 
 cdef class Contact(object):
   cdef c_mc_rbdyn.Contact * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef Contact ContactFromC(const c_mc_rbdyn.Contact &, cppbool copy=?)
 
 cdef class ContactVector(object):
   cdef vector[c_mc_rbdyn.Contact] * v
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef ContactVector ContactVectorFromC(const vector[c_mc_rbdyn.Contact] &, cppbool copy=?)
 
@@ -107,4 +107,4 @@ cdef GeosGeomGeometry GeosGeomGeometryFromSharedPtr(shared_ptr[c_mc_rbdyn.Geomet
 
 cdef class PolygonInterpolator(object):
   cdef c_mc_rbdyn.PolygonInterpolator * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
diff --git a/binding/python/mc_rbdyn/mc_rbdyn.pyx b/binding/python/mc_rbdyn/mc_rbdyn.pyx
index 52bc4be609..07df7aacd8 100644
--- a/binding/python/mc_rbdyn/mc_rbdyn.pyx
+++ b/binding/python/mc_rbdyn/mc_rbdyn.pyx
@@ -149,10 +149,10 @@ cdef Flexibility FlexibilityFromC(const c_mc_rbdyn.Flexibility & flex):
 
 cdef class BodySensor(object):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, skip_alloc = False):
-    self.__own_impl = not skip_alloc
+    self.own_impl__ = not skip_alloc
     if skip_alloc:
       self.impl = NULL
       return
@@ -184,7 +184,7 @@ cdef BodySensor BodySensorFromCRef(const c_mc_rbdyn.BodySensor & bs):
 
 cdef class ForceSensor(object):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, sn, bn, sva.PTransformd X_p_f):
     if isinstance(sn, unicode):
@@ -193,7 +193,7 @@ cdef class ForceSensor(object):
       bn = bn.encode(u'ascii')
     self.impl = new c_mc_rbdyn.ForceSensor(sn, bn, deref(X_p_f.impl))
   def __cinit__(self, *args, skip_alloc = False):
-    self.__own_impl = not skip_alloc
+    self.own_impl__ = not skip_alloc
     if skip_alloc:
       assert(len(args) ==0)
       self.impl = NULL
@@ -1045,7 +1045,7 @@ cdef class Contact(object):
   defaultFriction = c_mc_rbdyn.ContactdefaultFriction
   nrBilatPoints = c_mc_rbdyn.ContactnrBilatPoints
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __copyctor__(self, Contact other):
     self.impl = new c_mc_rbdyn.Contact(deref(other.impl))
@@ -1077,7 +1077,7 @@ cdef class Contact(object):
       skip_alloc = bool(kwds["skip_alloc"])
     else:
       skip_alloc = False
-    self.__own_impl = True
+    self.own_impl__ = True
     if len(args) == 0 and skip_alloc:
       self.impl = NULL
     elif len(args) == 1 and isinstance(args[0], Contact):
@@ -1189,18 +1189,18 @@ cdef Contact ContactFromC(const c_mc_rbdyn.Contact& c, cppbool copy=True):
   if copy:
     ret.impl = new c_mc_rbdyn.Contact(c)
   else:
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.impl = &(c_mc_rbdyn.const_cast_contact(c))
   return ret
 
 cdef class ContactVector(object):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.v
   def __push_contact(self, Contact c):
     self.v.push_back(deref(c.impl))
   def __cinit__(self, *args, skip_alloc = False):
-    self.__own_impl = True
+    self.own_impl__ = True
     if not skip_alloc:
       self.v = new vector[c_mc_rbdyn.Contact]()
     if len(args) == 1:
@@ -1261,7 +1261,7 @@ cdef ContactVector ContactVectorFromC(const vector[c_mc_rbdyn.Contact]& v,
   if copy:
     ret.v = new vector[c_mc_rbdyn.Contact](v)
   else:
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.v = &(c_mc_rbdyn.const_cast_contact_vector(v))
   return ret
 
@@ -1276,15 +1276,15 @@ cdef GeosGeomGeometry GeosGeomGeometryFromSharedPtr(shared_ptr[c_mc_rbdyn.Geomet
 
 cdef class PolygonInterpolator(object):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, *args, skip_alloc = False):
     if skip_alloc:
       assert(len(args) == 0)
       self.impl = NULL
-      self.__own_impl = False
+      self.own_impl__ = False
     else:
-      self.__own_impl = True
+      self.own_impl__ = True
       assert(len(args) == 1)
       data_path = args[0]
       if isinstance(data_path, unicode):
diff --git a/binding/python/mc_rtc/mc_rtc.pxd b/binding/python/mc_rtc/mc_rtc.pxd
index 11e7138d12..f62b3843e7 100644
--- a/binding/python/mc_rtc/mc_rtc.pxd
+++ b/binding/python/mc_rtc/mc_rtc.pxd
@@ -13,7 +13,7 @@ cdef Logger LoggerFromRef(c_mc_rtc.Logger &)
 
 cdef class Configuration(object):
   cdef c_mc_rtc.Configuration * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef Configuration ConfigurationFromValue(c_mc_rtc.Configuration)
 cdef Configuration ConfigurationFromRef(c_mc_rtc.Configuration &)
diff --git a/binding/python/mc_rtc/mc_rtc.pyx b/binding/python/mc_rtc/mc_rtc.pyx
index 8b40c19c93..ac85740041 100644
--- a/binding/python/mc_rtc/mc_rtc.pyx
+++ b/binding/python/mc_rtc/mc_rtc.pyx
@@ -101,11 +101,11 @@ cdef Logger LoggerFromRef(c_mc_rtc.Logger & logger):
 
 cdef class Configuration(object):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, *args, skip_alloc = False):
     if not skip_alloc:
-      self.__own_impl = True
+      self.own_impl__ = True
       if(len(args) == 0):
         self.impl = new c_mc_rtc.Configuration()
       else:
@@ -115,7 +115,7 @@ cdef class Configuration(object):
           path = path.encode(u'ascii')
         self.impl = new c_mc_rtc.Configuration(<string>(path))
     else:
-      self.__own_impl = False
+      self.own_impl__ = False
       self.impl = NULL
   @staticmethod
   def fromData(data):
@@ -306,7 +306,7 @@ cdef class Configuration(object):
 
 cdef Configuration ConfigurationFromValue(c_mc_rtc.Configuration conf):
   cdef Configuration ret = Configuration(skip_alloc = True)
-  ret.__own_impl = True
+  ret.own_impl__ = True
   ret.impl = new c_mc_rtc.Configuration(conf)
   return ret
 
diff --git a/binding/python/mc_solver/mc_solver.pxd b/binding/python/mc_solver/mc_solver.pxd
index d7ebc463d3..22809202f3 100644
--- a/binding/python/mc_solver/mc_solver.pxd
+++ b/binding/python/mc_solver/mc_solver.pxd
@@ -11,13 +11,13 @@ cdef class ConstraintSet(object):
 
 cdef class ContactConstraint(ConstraintSet):
   cdef c_mc_solver.ContactConstraint * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef ContactConstraint ContactConstraintFromPtr(c_mc_solver.ContactConstraint *)
 
 cdef class KinematicsConstraint(ConstraintSet):
   cdef c_mc_solver.KinematicsConstraint * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef KinematicsConstraint KinematicsConstraintFromPtr(c_mc_solver.KinematicsConstraint *)
 
@@ -28,13 +28,13 @@ cdef DynamicsConstraint DynamicsConstraintFromPtr(c_mc_solver.DynamicsConstraint
 
 cdef class CollisionsConstraint(ConstraintSet):
   cdef c_mc_solver.CollisionsConstraint * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef CollisionsConstraint CollisionsConstraintFromPtr(c_mc_solver.CollisionsConstraint*)
 
 cdef class QPSolver(object):
   cdef c_mc_solver.QPSolver * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef QPSolver QPSolverFromPtr(c_mc_solver.QPSolver*)
 
diff --git a/binding/python/mc_solver/mc_solver.pyx b/binding/python/mc_solver/mc_solver.pyx
index 765b70ab01..cec3402ab8 100644
--- a/binding/python/mc_solver/mc_solver.pyx
+++ b/binding/python/mc_solver/mc_solver.pyx
@@ -33,10 +33,10 @@ cdef class ContactConstraint(ConstraintSet):
   Velocity = c_mc_solver.ContactTypeVelocity
   Position = c_mc_solver.ContactTypePosition
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, timeStep, int cType = ContactConstraint.Velocity, dynamics = True, skip_alloc = False):
-    self.__own_impl = True
+    self.own_impl__ = True
     if not skip_alloc:
       assert(cType >= ContactConstraint.Acceleration and cType <= ContactConstraint.Position)
       self.impl = self.cs_base = new c_mc_solver.ContactConstraint(timeStep, <c_mc_solver.ContactConstraintContactType>cType)
@@ -54,17 +54,17 @@ cdef class ContactConstraint(ConstraintSet):
 
 cdef ContactConstraint ContactConstraintFromPtr(c_mc_solver.ContactConstraint * p):
     cdef ContactConstraint ret = ContactConstraint(0.0, skip_alloc = True)
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.impl = ret.cs_base = p
     return ret
 
 cdef class KinematicsConstraint(ConstraintSet):
   def __dealloc__(self):
-    if type(self) is KinematicsConstraint and self.__own_impl:
+    if type(self) is KinematicsConstraint and self.own_impl__:
       del self.impl
   def __cinit__(self, mc_rbdyn.Robots robots, robotIndex, timeStep, damper = None, velocityPercent = 1.0, infTorque = False, skip_alloc = False):
     cdef c_mc_solver.array3d damp = c_mc_solver.array3d()
-    self.__own_impl = True
+    self.own_impl__ = True
     if type(self) is KinematicsConstraint and not skip_alloc:
       if damper is None:
         self.impl = self.cs_base = new c_mc_solver.KinematicsConstraint(deref(robots.impl), robotIndex, timeStep)
@@ -76,17 +76,17 @@ cdef class KinematicsConstraint(ConstraintSet):
 
 cdef KinematicsConstraint KinematicsConstraintFromPtr(c_mc_solver.KinematicsConstraint*p):
     cdef KinematicsConstraint ret = KinematicsConstraint(None, 0, 0.0, skip_alloc = True)
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.impl = ret.cs_base = p
     return ret
 
 cdef class DynamicsConstraint(KinematicsConstraint):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, mc_rbdyn.Robots robots, robotIndex, timeStep, isStatic = False, damper = None, velocityPercent = 1.0, infTorque = False, skip_alloc = False):
     cdef c_mc_solver.array3d damp = c_mc_solver.array3d()
-    self.__own_impl = True
+    self.own_impl__ = True
     if not skip_alloc:
       if damper is None:
         self.d_impl = self.impl = self.cs_base = new c_mc_solver.DynamicsConstraint(deref(robots.impl), robotIndex, timeStep, infTorque)
@@ -98,17 +98,17 @@ cdef class DynamicsConstraint(KinematicsConstraint):
 
 cdef DynamicsConstraint DynamicsConstraintFromPtr(c_mc_solver.DynamicsConstraint * p):
     cdef DynamicsConstraint ret = DynamicsConstraint(None, 0, 0.0, skip_alloc = True)
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.d_impl = ret.impl = ret.cs_base = p
     return ret
 
 cdef class CollisionsConstraint(ConstraintSet):
   defaultDampingOffset = c_mc_solver.CollisionsConstraintDefaultDampingOffset
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, mc_rbdyn.Robots robots, r1Index, r2Index, timeStep, skip_alloc = False):
-    self.__own_impl = True
+    self.own_impl__ = True
     if not skip_alloc:
       self.impl = self.cs_base = new c_mc_solver.CollisionsConstraint(deref(robots.impl), r1Index, r2Index, timeStep)
   def removeCollision(self, QPSolver solver, b1Name, b2Name):
@@ -148,7 +148,7 @@ cdef class CollisionsConstraint(ConstraintSet):
 
 cdef CollisionsConstraint CollisionsConstraintFromPtr(c_mc_solver.CollisionsConstraint * p):
     cdef CollisionsConstraint ret = CollisionsConstraint(None, None, None, None, skip_alloc = True)
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.impl = ret.cs_base = p
     return ret
 
@@ -159,10 +159,10 @@ cdef qp.BilateralContact BilateralContactFromC(const c_qp.BilateralContact & bc)
 
 cdef class QPSolver(object):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __cinit__(self, mc_rbdyn.Robots robots, timeStep, skip_alloc = False):
-    self.__own_impl = True
+    self.own_impl__ = True
     if not skip_alloc:
       self.impl = new c_mc_solver.TasksQPSolver(robots.impl, timeStep)
   def addConstraintSet(self, ConstraintSet cs):
@@ -191,7 +191,7 @@ cdef class QPSolver(object):
 
 cdef QPSolver QPSolverFromPtr(c_mc_solver.QPSolver * p):
     cdef QPSolver ret = QPSolver(None, 0, skip_alloc = True)
-    ret.__own_impl = False
+    ret.own_impl__ = False
     ret.impl = p
     return ret
 
diff --git a/binding/python/mc_tasks/force/force.pxd b/binding/python/mc_tasks/force/force.pxd
index 1782021022..d8a992520f 100644
--- a/binding/python/mc_tasks/force/force.pxd
+++ b/binding/python/mc_tasks/force/force.pxd
@@ -12,7 +12,7 @@ cdef class AdmittanceTask(SurfaceTransformTask):
 
 cdef class ComplianceTask(MetaTask):
   cdef c_force.ComplianceTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef class DampingTask(AdmittanceTask):
   cdef c_force.DampingTask * damping_impl
diff --git a/binding/python/mc_tasks/force/force.pyx b/binding/python/mc_tasks/force/force.pyx
index 525477947b..84c46144fa 100644
--- a/binding/python/mc_tasks/force/force.pyx
+++ b/binding/python/mc_tasks/force/force.pyx
@@ -24,20 +24,20 @@ from libcpp cimport bool as cppbool
 
 cdef class AdmittanceTask(SurfaceTransformTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.adm_impl
       self.adm_impl = self.impl = self.ttg_base = self.mt_base = NULL
   def __ctor__(self, surfaceName, mc_rbdyn.Robots robots, robotIndex,
                stiffness = 5.0, weight = 1000.0):
     if isinstance(surfaceName, unicode):
       surfaceName = surfaceName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.adm_impl = self.impl = self.ttg_base = self.mt_base = new c_force.AdmittanceTask(surfaceName, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, skip_alloc = False, **kwargs):
     if skip_alloc:
       if len(args) + len(kwargs) > 0:
         raise TypeError("Cannot pass skip_alloc = True and other arguments to AdmittanceTask ctor")
-      self.__own_impl = False
+      self.own_impl__ = False
       self.adm_impl = self.impl = self.ttg_base = self.mt_base = NULL
     elif len(args) >= 3:
       self.__ctor__(*args, **kwargs)
@@ -64,7 +64,7 @@ cdef class ComplianceTask(MetaTask):
   defaultFGain = c_force.defaultFGain
   defaultTGain = c_force.defaultTGain
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, mc_rbdyn.Robots robots, robotIndex, body,
                      timestep, stiffness = 5.0, weight = 1000.0,
@@ -72,13 +72,13 @@ cdef class ComplianceTask(MetaTask):
                      forceGain = defaultFGain, torqueGain = defaultTGain):
     if isinstance(body, unicode):
       body = body.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.mt_base = new c_force.ComplianceTask(deref(robots.impl), robotIndex, body, timestep, stiffness, weight, forceThresh, torqueThresh, forceGain, torqueGain)
   def __cinit__(self, *args, skip_alloc = False, **kwargs):
     if skip_alloc:
       if len(args) + len(kwargs) > 0:
         raise TypeError("Cannot pass skip_alloc = True and other arguments to ComplianceTask ctor")
-      self.__own_impl = False
+      self.own_impl__ = False
       self.impl = self.mt_base = NULL
     elif len(args) >= 4:
       self.__ctor__(*args, **kwargs)
@@ -93,20 +93,20 @@ cdef class ComplianceTask(MetaTask):
 
 cdef class DampingTask(AdmittanceTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.adm_impl
       self.damping_impl = self.adm_impl = self.impl = self.ttg_base = self.mt_base = NULL
   def __ctor__(self, surfaceName, mc_rbdyn.Robots robots, robotIndex,
                stiffness = 5.0, weight = 1000.0):
     if isinstance(surfaceName, unicode):
       surfaceName = surfaceName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.damping_impl = self.adm_impl = self.impl = self.ttg_base = self.mt_base = new c_force.DampingTask(surfaceName, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, skip_alloc = False, **kwargs):
     if skip_alloc:
       if len(args) + len(kwargs) > 0:
         raise TypeError("Cannot pass skip_alloc = True and other arguments to DampingTask ctor")
-      self.__own_impl = False
+      self.own_impl__ = False
       self.damping_impl = self.adm_impl = self.impl = self.ttg_base = self.mt_base = NULL
     elif len(args) >= 3:
       self.__ctor__(*args, **kwargs)
@@ -115,20 +115,20 @@ cdef class DampingTask(AdmittanceTask):
 
 cdef class CoPTask(DampingTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.adm_impl
       self.cop_impl = self.damping_impl = self.adm_impl = self.impl = self.ttg_base = self.mt_base = NULL
   def __ctor__(self, surfaceName, mc_rbdyn.Robots robots, robotIndex,
                stiffness = 5.0, weight = 1000.0):
     if isinstance(surfaceName, unicode):
       surfaceName = surfaceName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.cop_impl = self.damping_impl = self.adm_impl = self.impl = self.ttg_base = self.mt_base = new c_force.CoPTask(surfaceName, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, skip_alloc = False, **kwargs):
     if skip_alloc:
       if len(args) + len(kwargs) > 0:
         raise TypeError("Cannot pass skip_alloc = True and other arguments to CoPTask ctor")
-      self.__own_impl = False
+      self.own_impl__ = False
       self.cop_impl = self.damping_impl = self.adm_impl = self.impl = self.ttg_base = self.mt_base = NULL
     elif len(args) >= 3:
       self.__ctor__(*args, **kwargs)
diff --git a/binding/python/mc_tasks/mc_tasks.pxd b/binding/python/mc_tasks/mc_tasks.pxd
index c14335a26c..4683beab2c 100644
--- a/binding/python/mc_tasks/mc_tasks.pxd
+++ b/binding/python/mc_tasks/mc_tasks.pxd
@@ -20,7 +20,7 @@ cdef class MetaTask(object):
 
 cdef class PostureTask(MetaTask):
   cdef c_mc_tasks.PostureTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef PostureTask PostureTaskFromPtr(c_mc_tasks.PostureTask *)
 
@@ -44,45 +44,45 @@ cdef class _SplineTrajectoryTask(MetaTask):
 
 cdef class BSplineTrajectoryTask(_SplineTrajectoryTask):
   cdef c_mc_tasks.BSplineTrajectoryTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef class ExactCubicTrajectoryTask(_SplineTrajectoryTask):
   cdef c_mc_tasks.ExactCubicTrajectoryTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef class _TransformTask(MetaTask):
   cdef c_mc_tasks.TrajectoryTaskGeneric * ttg_base
 
 cdef class CoMTask(_CoMTrajectoryTask):
   cdef c_mc_tasks.CoMTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef class PositionTask(_PositionTrajectoryTask):
   cdef c_mc_tasks.PositionTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef PositionTask PositionTaskFromSharedPtr(shared_ptr[c_mc_tasks.PositionTask])
 
 cdef class OrientationTask(_OrientationTrajectoryTask):
   cdef c_mc_tasks.OrientationTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef OrientationTask OrientationTaskFromSharedPtr(shared_ptr[c_mc_tasks.OrientationTask])
 
 cdef class VectorOrientationTask(_VectorOrientationTrajectoryTask):
   cdef c_mc_tasks.VectorOrientationTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef class EndEffectorTask(MetaTask):
   cdef c_mc_tasks.EndEffectorTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 cdef class RelativeEndEffectorTask(EndEffectorTask):
   pass
 
 cdef class SurfaceTransformTask(_SurfaceTransformTask):
   cdef c_mc_tasks.SurfaceTransformTask * impl
-  cdef cppbool __own_impl
+  cdef cppbool own_impl__
 
 ctypedef fused AnyTTG:
   CoMTask
diff --git a/binding/python/mc_tasks/mc_tasks.pyx b/binding/python/mc_tasks/mc_tasks.pyx
index f2e92bffb8..c6173fda69 100644
--- a/binding/python/mc_tasks/mc_tasks.pyx
+++ b/binding/python/mc_tasks/mc_tasks.pyx
@@ -80,7 +80,7 @@ def genericInit(AnyTask self, size, name, *args, skip_alloc=False, **kwargs):
   if skip_alloc:
     if len(args) + len(kwargs) > 0:
       raise TypeError("Cannot pass skip_alloc=True and other arguments to {0} ctor".format(name))
-    self.__own_impl = False
+    self.own_impl__ = False
     if AnyTask in AnyTTG:
       genericTTGNull(self)
     else:
@@ -93,11 +93,11 @@ def genericInit(AnyTask self, size, name, *args, skip_alloc=False, **kwargs):
 
 cdef class CoMTask(_CoMTrajectoryTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, mc_rbdyn.Robots robots, robotIndex,
                stiffness = 2.0, weight = 500.0):
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.CoMTask(deref(robots.impl), robotIndex, stiffness, weight)
 
   def __cinit__(self, *args, **kwargs):
@@ -115,13 +115,13 @@ cdef class CoMTask(_CoMTrajectoryTask):
 
 cdef class PositionTask(_PositionTrajectoryTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, bodyName, mc_rbdyn.Robots robots,
                 robotIndex, stiffness = 2.0, weight = 500.0):
     if isinstance(bodyName, unicode):
       bodyName = bodyName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.PositionTask(bodyName, deref(robots.impl), robotIndex, stiffness, weight)
 
   def __cinit__(self, *args, **kwargs):
@@ -141,13 +141,13 @@ cdef PositionTask PositionTaskFromSharedPtr(shared_ptr[c_mc_tasks.PositionTask]
 
 cdef class OrientationTask(_OrientationTrajectoryTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, bodyName, mc_rbdyn.Robots robots,
                 robotIndex, stiffness = 2.0, weight = 500.0):
     if isinstance(bodyName, unicode):
       bodyName = bodyName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.OrientationTask(bodyName, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, **kwargs):
     genericInit[OrientationTask](self, 3, 'OrientationTask', *args, **kwargs)
@@ -165,27 +165,27 @@ cdef OrientationTask OrientationTaskFromSharedPtr(shared_ptr[c_mc_tasks.Orientat
 
 cdef class VectorOrientationTask(_VectorOrientationTrajectoryTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, bodyName, eigen.Vector3d bodyVector,
                eigen.Vector3d targetVector, mc_rbdyn.Robots robots,
                 robotIndex, stiffness = 2.0, weight = 500.0):
     if isinstance(bodyName, unicode):
       bodyName = bodyName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.VectorOrientationTask(bodyName, bodyVector.impl, targetVector.impl, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, **kwargs):
     genericInit[VectorOrientationTask](self, 5, 'VectorOrientationTask', *args, **kwargs)
 
 cdef class SurfaceTransformTask(_SurfaceTransformTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, surfaceName, mc_rbdyn.Robots robots,
           robotIndex, stiffness = 2.0, weight = 500.0):
     if isinstance(surfaceName, unicode):
       surfaceName = surfaceName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.SurfaceTransformTask(surfaceName, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, **kwargs):
     genericInit[SurfaceTransformTask](self, 3, 'SurfaceTransformTask', *args, **kwargs)
@@ -229,13 +229,13 @@ cdef class VectorPairDoubleVector3d(object):
 
 cdef class BSplineTrajectoryTask(_SplineTrajectoryTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, mc_rbdyn.Robots robots, robotIndex,
           surfaceName, duration, stiffness, weight, sva.PTransformd target, posWp, oriWp):
     if isinstance(surfaceName, unicode):
       surfaceName = surfaceName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.BSplineTrajectoryTask(deref(robots.impl), robotIndex, surfaceName, duration, stiffness, weight, deref(target.impl))
     self.posWaypoints(posWp)
     self.oriWaypoints(oriWp)
@@ -267,13 +267,13 @@ cdef class BSplineTrajectoryTask(_SplineTrajectoryTask):
 
 cdef class ExactCubicTrajectoryTask(_SplineTrajectoryTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, mc_rbdyn.Robots robots, robotIndex,
           surfaceName, duration, stiffness, weight, sva.PTransformd target):
     if isinstance(surfaceName, unicode):
       surfaceName = surfaceName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.ttg_base = self.mt_base = new c_mc_tasks.ExactCubicTrajectoryTask(deref(robots.impl), robotIndex, surfaceName, duration, stiffness, weight, deref(target.impl))
   def __cinit__(self, *args, **kwargs):
     genericInit[ExactCubicTrajectoryTask](self, 7, 'ExactCubicTrajectoryTask', *args, **kwargs)
@@ -306,13 +306,13 @@ cdef class ExactCubicTrajectoryTask(_SplineTrajectoryTask):
 
 cdef class EndEffectorTask(MetaTask):
   def __dealloc__(self):
-    if self.__own_impl and type(self) is EndEffectorTask:
+    if self.own_impl__ and type(self) is EndEffectorTask:
       del self.impl
   def __ctor__(self, bodyName, mc_rbdyn.Robots robots,
                 robotIndex, stiffness = 2.0, weight = 1000.0):
     if isinstance(bodyName, unicode):
       bodyName = bodyName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.mt_base = new c_mc_tasks.EndEffectorTask(bodyName, deref(robots.impl), robotIndex, stiffness, weight)
   def __cinit__(self, *args, **kwargs):
     genericInit[EndEffectorTask](self, 3, 'EndEffectorTask', *args, **kwargs)
@@ -336,7 +336,7 @@ cdef class EndEffectorTask(MetaTask):
 
 cdef class RelativeEndEffectorTask(EndEffectorTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, bodyName, mc_rbdyn.Robots robots,
                 robotIndex, relBodyName = "", stiffness = 2.0, weight = 1000.0):
@@ -344,17 +344,17 @@ cdef class RelativeEndEffectorTask(EndEffectorTask):
       bodyName = bodyName.encode(u'ascii')
     if isinstance(relBodyName, unicode):
       relBodyName = relBodyName.encode(u'ascii')
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.mt_base = new c_mc_tasks.RelativeEndEffectorTask(bodyName, deref(robots.impl), robotIndex, relBodyName, stiffness, weight)
   def __cinit__(self, *args, **kwargs):
     genericInit[RelativeEndEffectorTask](self, 3, 'RelativeEndEffectorTask', *args, **kwargs)
 
 cdef class PostureTask(MetaTask):
   def __dealloc__(self):
-    if self.__own_impl:
+    if self.own_impl__:
       del self.impl
   def __ctor__(self, mc_solver.QPSolver solver, rIndex, stiffness, weight):
-    self.__own_impl = True
+    self.own_impl__ = True
     self.impl = self.mt_base = new c_mc_tasks.PostureTask(deref(solver.impl), rIndex, stiffness, weight)
   def __cinit__(self, *args, **kwargs):
     genericInit[PostureTask](self, 4, 'PostureTask', *args, **kwargs)
@@ -388,6 +388,6 @@ cdef class PostureTask(MetaTask):
 
 cdef PostureTask PostureTaskFromPtr(c_mc_tasks.PostureTask * p):
   cdef PostureTask ret = PostureTask(skip_alloc = True)
-  ret.__own_impl = False
+  ret.own_impl__ = False
   ret.impl = ret.mt_base = p
   return ret