diff --git a/py-sot-talos/Makefile b/py-sot-talos/Makefile
index 6a0a9a4f8e3ca5b6912e21af74d4bce73ebc318f..19164f91ab1b20c74d32c5c04fbe8eb890083b7a 100644
--- a/py-sot-talos/Makefile
+++ b/py-sot-talos/Makefile
@@ -4,19 +4,17 @@
ORG= stack-of-tasks
NAME= sot-talos
-VERSION= 1.1.0
+VERSION= 1.1.1
CATEGORIES= wip
COMMENT= This packages provides a generic Stack Of Tasks library for the humanoid robot Pyrene.
-LICENSE= 2-clause-bsd
-MAINTAINER= ostasse@laas.fr
USE_PYTHON= true
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../wip/talos-data/depend.mk
+include ../../wip/pyrene-motions/depend.mk
include ../../wip/py-sot-application-v3/depend.mk
-#include ../../wip/sot-dyninv-v3/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
@@ -28,6 +26,7 @@ include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../math/pinocchio/depend.mk
include ../../path/hpp-fcl/depend.mk
+include ../../path/py-hpp-fcl/depend.mk
include ../../mapping/octomap/depend.mk
include ../../math/py-pinocchio/depend.mk
include ../../math/py-eigenpy/depend.mk
diff --git a/py-sot-talos/PLIST b/py-sot-talos/PLIST
index 29546832a4c21d5cd5bc549f8866e79b639f04f7..32467fbe31595cd59ab5c4c8c5586c35953eb23c 100644
--- a/py-sot-talos/PLIST
+++ b/py-sot-talos/PLIST
@@ -1,7 +1,11 @@
@comment Tue May 9 23:59:20 CEST 2017
-include/sot-talos/config.hh
-include/sot-talos/deprecated.hh
-include/sot-talos/warning.hh
+include/sot/talos/config.hh
+include/sot/talos/deprecated.hh
+include/sot/talos/warning.hh
+lib/cmake/sot-talos/sot-talosConfig.cmake
+lib/cmake/sot-talos/sot-talosConfigVersion.cmake
+lib/cmake/sot-talos/sot-talosTargets-release.cmake
+lib/cmake/sot-talos/sot-talosTargets.cmake
lib/libsot-pyrene-controller.so
lib/libsot-talos-device.so
lib/pkgconfig/sot-talos.pc
@@ -12,7 +16,10 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/talos/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/talos/sot_talos_device/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/talos/sot_talos_device/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/talos/talos.py
+share/sot-talos/package.xml
+share/sot-talos/tests/appli-test-simple-seq-play.py
share/sot-talos/tests/appli.py
share/sot-talos/tests/katana_holding.py
share/sot-talos/tests/kinetalos.py
+share/sot-talos/tests/test-simple-seq-play.py
share/sot-talos/tests/test.py
diff --git a/py-sot-talos/depend.mk b/py-sot-talos/depend.mk
index 04a1196ea51ee3c25689a55f35367499fc260247..014345705cc9610ee7799856fa790e8b7d624985 100644
--- a/py-sot-talos/depend.mk
+++ b/py-sot-talos/depend.mk
@@ -16,7 +16,7 @@ include ../../mk/sysdep/python.mk
PREFER.py-sot-talos?= robotpkg
SYSTEM_SEARCH.py-sot-talos=\
- include/sot-talos/config.hh \
+ include/sot/talos/config.hh \
'lib/pkgconfig/sot-talos.pc:/Version/s/[^0-9.]//gp'
DEPEND_USE+= py-sot-talos
diff --git a/py-sot-talos/distinfo b/py-sot-talos/distinfo
index 92e04d56193523a04a312ad4e220df24c8cba38e..1ff43adfdff54dd3a665da8d336ed533b8028f0d 100644
--- a/py-sot-talos/distinfo
+++ b/py-sot-talos/distinfo
@@ -1,4 +1,3 @@
-SHA1 (sot-talos-1.1.0.tar.gz) = bf78a5bb2c076cba1575d1313fb19a2c69356640
-RMD160 (sot-talos-1.1.0.tar.gz) = c3c7a2f05fbb2438a9afd83c2d8a78da18976558
-Size (sot-talos-1.1.0.tar.gz) = 810645 bytes
-SHA1 (patch-aa) = 23797e17cad85334b2f862b70609b2322266996e
+SHA1 (sot-talos-1.1.1.tar.gz) = 420e9929c0277da00f614006461e681ab8b8d763
+RMD160 (sot-talos-1.1.1.tar.gz) = 240b01f0dba43c90c5cf401cc1310bfa9ce128c7
+Size (sot-talos-1.1.1.tar.gz) = 841841 bytes
diff --git a/py-sot-talos/patches/patch-aa b/py-sot-talos/patches/patch-aa
deleted file mode 100644
index f55a80d9ee543101a87a00c1fef22644a9a0bba9..0000000000000000000000000000000000000000
--- a/py-sot-talos/patches/patch-aa
+++ /dev/null
@@ -1,23 +0,0 @@
-fix for eigenpy v2: use np.array instead of np.matrix
-
---- src/dynamic_graph/sot/talos/talos.py.orig 2019-11-05 13:00:02.000000000 +0100
-+++ src/dynamic_graph/sot/talos/talos.py 2020-02-18 14:58:34.163678024 +0100
-@@ -90,12 +90,12 @@
- # TODO For position limit, we remove the first value to get
- # a vector of the good size because SoT use euler angles and not
- # quaternions...
-- self.device.setPositionBounds(self.pinocchioModel.lowerPositionLimit.T.tolist()[0][1:],
-- self.pinocchioModel.upperPositionLimit.T.tolist()[0][1:])
-- self.device.setVelocityBounds((-self.pinocchioModel.velocityLimit).T.tolist()[0],
-- self.pinocchioModel.velocityLimit.T.tolist()[0])
-- self.device.setTorqueBounds((-self.pinocchioModel.effortLimit).T.tolist()[0],
-- self.pinocchioModel.effortLimit.T.tolist()[0])
-+ self.device.setPositionBounds(self.pinocchioModel.lowerPositionLimit.tolist()[1:],
-+ self.pinocchioModel.upperPositionLimit.tolist()[1:])
-+ self.device.setVelocityBounds((-self.pinocchioModel.velocityLimit).tolist(),
-+ self.pinocchioModel.velocityLimit.tolist())
-+ self.device.setTorqueBounds((-self.pinocchioModel.effortLimit).tolist(),
-+ self.pinocchioModel.effortLimit.tolist())
- self.halfSitting = initialConfig
- self.device.set(self.halfSitting)
- plug(self.device.state, self.dynamic.position)