diff --git a/src/creo2urdf/src/Creo2Urdf.cpp b/src/creo2urdf/src/Creo2Urdf.cpp
index 6a8561a..b08a1ab 100644
--- a/src/creo2urdf/src/Creo2Urdf.cpp
+++ b/src/creo2urdf/src/Creo2Urdf.cpp
@@ -124,7 +124,7 @@ void Creo2Urdf::OnCommand() {
         auto link_name = string(component_handle->GetFullName());
 
         iDynTree::Transform root_H_link = iDynTree::Transform::Identity();
-        iDynTree::Transform csys_H_link = iDynTree::Transform::Identity();
+        iDynTree::Transform csysPart_H_link = iDynTree::Transform::Identity();
         
         std::string urdf_link_name = getRenameElementFromConfig(link_name);
 
@@ -151,14 +151,14 @@ void Creo2Urdf::OnCommand() {
 
         auto mass_prop = pfcSolid::cast(component_handle)->GetMassProperty();
 
-        std::tie(ret, csys_H_link) = getTransformFromPart(component_handle, link_frame_name, scale);
+        std::tie(ret, csysPart_H_link) = getTransformFromPart(component_handle, link_frame_name, scale);
         if (!ret && warningsAreFatal)
         {
             return;
         }
         
         iDynTree::Link link;
-        link.setInertia(computeSpatialInertiafromCreo(mass_prop, csys_H_link, urdf_link_name));
+        link.setInertia(computeSpatialInertiafromCreo(mass_prop, csysPart_H_link, urdf_link_name));
 
         if (!link.getInertia().isPhysicallyConsistent())
         {
@@ -387,18 +387,18 @@ iDynTree::SpatialInertia Creo2Urdf::computeSpatialInertiafromCreo(pfcMassPropert
     auto com = mass_prop->GetGravityCenter();
     auto inertia_tensor = mass_prop->GetCenterGravityInertiaTensor();
 
-    iDynTree::RotationalInertiaRaw idyn_inertia_tensor_csys_orientation = iDynTree::RotationalInertiaRaw::Zero();
+    iDynTree::RotationalInertiaRaw idyn_inertia_tensor_csysPart_orientation = iDynTree::RotationalInertiaRaw::Zero();
     iDynTree::RotationalInertiaRaw idyn_inertia_tensor_link_orientation = iDynTree::RotationalInertiaRaw::Zero();
 
     bool assigned_inertia_flag = assigned_inertias_map.find(link_name) != assigned_inertias_map.end();
-    for (int i_row = 0; i_row < idyn_inertia_tensor_csys_orientation.rows(); i_row++) {
-        for (int j_col = 0; j_col < idyn_inertia_tensor_csys_orientation.cols(); j_col++) {
+    for (int i_row = 0; i_row < idyn_inertia_tensor_csysPart_orientation.rows(); i_row++) {
+        for (int j_col = 0; j_col < idyn_inertia_tensor_csysPart_orientation.cols(); j_col++) {
             if ((assigned_inertia_flag) && (i_row == j_col)) {
                 // The assigned inertia is already expressed in the link frame
                 idyn_inertia_tensor_link_orientation.setVal(i_row, j_col, assigned_inertias_map.at(link_name)[i_row]);
             }
             else {
-                idyn_inertia_tensor_csys_orientation.setVal(i_row, j_col, inertia_tensor->get(i_row, j_col) * scale[i_row] * scale[j_col]);
+                idyn_inertia_tensor_csysPart_orientation.setVal(i_row, j_col, inertia_tensor->get(i_row, j_col) * scale[i_row] * scale[j_col]);
             }
         }
     }
@@ -418,12 +418,12 @@ iDynTree::SpatialInertia Creo2Urdf::computeSpatialInertiafromCreo(pfcMassPropert
     if (!assigned_inertia_flag) {
         // Note, this auto-defined methods are Eigen::Map, so they are reference to data that remains
         // stored in the original iDynTree object, see https://eigen.tuxfamily.org/dox/group__TutorialMapClass.html
-        auto inertia_tensor_root = iDynTree::toEigen(idyn_inertia_tensor_csys_orientation);
+        auto inertia_tensor_root = iDynTree::toEigen(idyn_inertia_tensor_csysPart_orientation);
         auto inertia_tensor_link = iDynTree::toEigen(idyn_inertia_tensor_link_orientation);
-        auto csys_R_link = iDynTree::toEigen(H.getRotation());
+        auto csysPart_R_link = iDynTree::toEigen(H.getRotation());
 
         // See Equation 15 of https://ocw.mit.edu/courses/16-07-dynamics-fall-2009/dd277ec654440f4c2b5b07d6c286c3fd_MIT16_07F09_Lec26.pdf
-        inertia_tensor_link = csys_R_link.transpose()*inertia_tensor_root*csys_R_link;
+        inertia_tensor_link = csysPart_R_link.transpose()*inertia_tensor_root*csysPart_R_link;
     }
 
     double mass{ 0.0 };
diff --git a/src/creo2urdf/src/Utils.cpp b/src/creo2urdf/src/Utils.cpp
index dfdeab1..3858e80 100644
--- a/src/creo2urdf/src/Utils.cpp
+++ b/src/creo2urdf/src/Utils.cpp
@@ -103,23 +103,23 @@ void sanitizeSTL(std::string stl)
 
 std::pair<bool, iDynTree::Transform> getTransformFromRootToChild(pfcComponentPath_ptr comp_path, pfcModel_ptr modelhdl, const std::string& link_frame_name, const array<double, 3>& scale) {
     
-    iDynTree::Transform H_child = iDynTree::Transform::Identity();
+    iDynTree::Transform csysAsm_H_link = iDynTree::Transform::Identity();
 
-    auto asm_csys_H_csys = fromCreo(comp_path->GetTransform(xtrue), scale);
-    iDynTree::Transform csys_H_child;
+    auto csysAsm_H_csysPart = fromCreo(comp_path->GetTransform(xtrue), scale);
+    iDynTree::Transform csysPart_H_link;
 
     bool ret = false;
-    std::tie(ret, csys_H_child) = getTransformFromPart(modelhdl, link_frame_name, scale);
+    std::tie(ret, csysPart_H_link) = getTransformFromPart(modelhdl, link_frame_name, scale);
 
     if (!ret)
     {
         printToMessageWindow("Unable to get the transform from to the root for " + string(modelhdl->GetFullName()), c2uLogLevel::WARN);
-        return make_pair(false, H_child);
+        return make_pair(false, csysAsm_H_link);
     }
 
-    H_child = asm_csys_H_csys * csys_H_child;
+    csysAsm_H_link = csysAsm_H_csysPart * csysPart_H_link;
 
-    return make_pair(true, H_child);
+    return make_pair(true, csysAsm_H_link);
 
 }