diff --git a/Makefile b/Makefile
index fc8737ed4f7962b44bc05217dca0788e4f0134ef..e004e19c677949abec4d7171eb16e388e0a27587 100644
--- a/Makefile
+++ b/Makefile
@@ -27,7 +27,6 @@ SUBDIR+=	hey5-description
 SUBDIR+=	histodet
 SUBDIR+=	hpp-affordance
 SUBDIR+=	hpp-benchmark
-SUBDIR+=	hpp-centroidal-dynamics
 SUBDIR+=	hpp-environments
 SUBDIR+=	hpp-hrp2
 SUBDIR+=	hpp-rbprm
@@ -93,6 +92,7 @@ SUBDIR+=	py-hqp
 SUBDIR+=	py-hpp-affordance-corba
 SUBDIR+=	py-hpp-baxter
 SUBDIR+=	py-hpp-bezier-com-traj
+SUBDIR+=	py-hpp-centroidal-dynamics
 SUBDIR+=	py-hpp-rbprm-corba
 SUBDIR+=	py-mavlink
 SUBDIR+=	py-morse
diff --git a/hpp-centroidal-dynamics/depend.mk b/hpp-centroidal-dynamics/depend.mk
deleted file mode 100644
index 4f278f402bbe695f438f96276ce0b7bc80d8dc41..0000000000000000000000000000000000000000
--- a/hpp-centroidal-dynamics/depend.mk
+++ /dev/null
@@ -1,30 +0,0 @@
-# robotpkg depend.mk for:	wip/hpp-centroidal-dynamics
-# Created:			Guilhem Saurel on Fri, 2 Jan 2019
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-HPP_CENTROIDAL_DYNAMICS_DEPEND_MK:=	${HPP_CENTROIDAL_DYNAMICS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		hpp-centroidal-dynamics
-endif
-
-ifeq (+,$(HPP_CENTROIDAL_DYNAMICS_DEPEND_MK)) # --------------------------------------
-
-include ../../mk/sysdep/python.mk
-
-PREFER.hpp-centroidal-dynamics?=	robotpkg
-
-DEPEND_USE+=		hpp-centroidal-dynamics
-
-DEPEND_ABI.hpp-centroidal-dynamics?=	${PKGTAG.python-}hpp-centroidal-dynamics>=4.7.0
-DEPEND_DIR.hpp-centroidal-dynamics?=	../../wip/hpp-centroidal-dynamics
-
-SYSTEM_SEARCH.hpp-centroidal-dynamics=\
-	include/hpp/centroidal-dynamics/config.hh	\
-	lib/libhpp-centroidal-dynamics.so	\
-	'lib/pkgconfig/hpp-centroidal-dynamics.pc:/Version/s/[^0-9.]//gp'
-
-endif # HPP_CENTROIDAL_DYNAMICS_DEPEND_MK --------------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/hpp-rbprm/Makefile b/hpp-rbprm/Makefile
index f2976ae48f024436b2ab76b05f2d5c89848274f5..f5b49fd4b15129c05c7188cbba98a136591b1027 100644
--- a/hpp-rbprm/Makefile
+++ b/hpp-rbprm/Makefile
@@ -20,7 +20,7 @@ include ../../path/hpp-statistics/depend.mk
 include ../../path/hpp-fcl/depend.mk
 include ../../path/hpp-constraints/depend.mk
 include ../../wip/py-hpp-bezier-com-traj/depend.mk
-include ../../wip/hpp-centroidal-dynamics/depend.mk
+include ../../wip/py-hpp-centroidal-dynamics/depend.mk
 include ../../wip/hpp-affordance/depend.mk
 include ../../wip/hpp-spline/depend.mk
 include ../../math/pinocchio/depend.mk
diff --git a/py-hpp-bezier-com-traj/Makefile b/py-hpp-bezier-com-traj/Makefile
index e6e3b2e84f067e05e3a48ca01aa8b52ab8808ed4..f2d1610f59390955fe4177da894de6ea807b06f1 100644
--- a/py-hpp-bezier-com-traj/Makefile
+++ b/py-hpp-bezier-com-traj/Makefile
@@ -14,7 +14,7 @@ PYTHON_NOTAG_CONFLICT=	yes
 include ../../meta-pkgs/hpp/Makefile.common
 
 include ../../wip/hpp-spline/depend.mk
-include ../../wip/hpp-centroidal-dynamics/depend.mk
+include ../../wip/py-hpp-centroidal-dynamics/depend.mk
 
 include ../../math/py-eigenpy/depend.mk
 include ../../math/eigen3/depend.mk
diff --git a/hpp-centroidal-dynamics/DESCR b/py-hpp-centroidal-dynamics/DESCR
similarity index 100%
rename from hpp-centroidal-dynamics/DESCR
rename to py-hpp-centroidal-dynamics/DESCR
diff --git a/hpp-centroidal-dynamics/Makefile b/py-hpp-centroidal-dynamics/Makefile
similarity index 73%
rename from hpp-centroidal-dynamics/Makefile
rename to py-hpp-centroidal-dynamics/Makefile
index 5e0f81d8f0b7c90d62386344098b68e8ed8fcc8c..f234628bdcaa835156168524f7bb5e25e13da705 100644
--- a/hpp-centroidal-dynamics/Makefile
+++ b/py-hpp-centroidal-dynamics/Makefile
@@ -1,14 +1,15 @@
-# robotpkg Makefile for:	wip/hpp-centroidal-dynamics
+# robotpkg Makefile for:	wip/py-hpp-centroidal-dynamics
 # Created:			Guilhem Saurel on Thu, 3 Jan 2019
 #
 
-HPP_PACKAGE=	hpp-centroidal-dynamics
-HPP_COMMENT=	testing equilibrium
+HPP_PACKAGE=		hpp-centroidal-dynamics
+HPP_COMMENT=		testing equilibrium
 
-CATEGORIES=	wip
+CATEGORIES=		wip
 
 USE_BOOST_LIBS=		python
 USE_PYTHON=		true
+PYTHON_NOTAG_CONFLICT=	yes
 
 include ../../meta-pkgs/hpp/Makefile.common
 
diff --git a/hpp-centroidal-dynamics/PLIST b/py-hpp-centroidal-dynamics/PLIST
similarity index 100%
rename from hpp-centroidal-dynamics/PLIST
rename to py-hpp-centroidal-dynamics/PLIST
diff --git a/py-hpp-centroidal-dynamics/depend.mk b/py-hpp-centroidal-dynamics/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..0523112187a4cae40d3a19edc7ae5ef766e4dabe
--- /dev/null
+++ b/py-hpp-centroidal-dynamics/depend.mk
@@ -0,0 +1,30 @@
+# robotpkg depend.mk for:	wip/py-hpp-centroidal-dynamics
+# Created:			Guilhem Saurel on Fri, 2 Jan 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_HPP_CENTROIDAL_DYNAMICS_DEPEND_MK:=	${PY_HPP_CENTROIDAL_DYNAMICS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-hpp-centroidal-dynamics
+endif
+
+ifeq (+,$(PY_HPP_CENTROIDAL_DYNAMICS_DEPEND_MK)) # --------------------------------------
+
+include ../../mk/sysdep/python.mk
+
+PREFER.py-hpp-centroidal-dynamics?=	robotpkg
+
+DEPEND_USE+=		py-hpp-centroidal-dynamics
+
+DEPEND_ABI.py-hpp-centroidal-dynamics?=	${PKGTAG.python-}hpp-centroidal-dynamics>=4.7.0
+DEPEND_DIR.py-hpp-centroidal-dynamics?=	../../wip/py-hpp-centroidal-dynamics
+
+SYSTEM_SEARCH.py-hpp-centroidal-dynamics=\
+	include/hpp/centroidal-dynamics/config.hh	\
+	lib/libhpp-centroidal-dynamics.so	\
+	'lib/pkgconfig/hpp-centroidal-dynamics.pc:/Version/s/[^0-9.]//gp'
+
+endif # PY_HPP_CENTROIDAL_DYNAMICS_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/hpp-centroidal-dynamics/distinfo b/py-hpp-centroidal-dynamics/distinfo
similarity index 100%
rename from hpp-centroidal-dynamics/distinfo
rename to py-hpp-centroidal-dynamics/distinfo