diff --git a/sot-romeo-v3/Makefile b/sot-romeo-v3/Makefile
index 547d2f849fafaf38367077e116f6037b28015bf8..3cfc2e865b46dcc75edd72ccac76b7c88a7acaf8 100644
--- a/sot-romeo-v3/Makefile
+++ b/sot-romeo-v3/Makefile
@@ -3,14 +3,13 @@
#
-VERSION= 2.0.0
+VERSION= 2.0.1
DISTNAME= sot-romeo-v3-${VERSION}
PKGNAME= sot-romeo-v3-${VERSION}
-PKGREVISION= 3
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-romeo-v3/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}proyan/sot-romeo
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-romeo
COMMENT= This packages provides a generic Stack Of Tasks library for the humanoid robot Romeo.
LICENSE= gnu-lgpl-v3
diff --git a/sot-romeo-v3/distinfo b/sot-romeo-v3/distinfo
index d9e06f2699590e0252f8aaaa8335b2e305566472..580c7bbf22c3384417f3e905042392784f987e74 100644
--- a/sot-romeo-v3/distinfo
+++ b/sot-romeo-v3/distinfo
@@ -1,9 +1,3 @@
-SHA1 (sot-romeo-v3-2.0.0.tar.gz) = dbf6eb4885962467c11bf1b14e2343797d3487b2
-RMD160 (sot-romeo-v3-2.0.0.tar.gz) = aaa2db1de593d3da0a41bb63647c8347cb06855e
-Size (sot-romeo-v3-2.0.0.tar.gz) = 105021 bytes
-SHA1 (patch-aa) = 0319ccbe6c1622c7708972f6fa4fde3e9361002c
-SHA1 (patch-ab) = f9980b73a906658126092a370fe79eb41f08dbb4
-SHA1 (patch-ac) = 655321720aa1e96b8d24f515ecd4b60233061802
-SHA1 (patch-ad) = 839d787b1ffb62cdba5a6620dda07c3cedd0e9fb
-SHA1 (patch-ae) = bc58ebeb3b3ad06f0747ce7760e290481004ec35
-SHA1 (patch-af) = fec847fd48e14388ed51a485187a03e6a704be67
+SHA1 (sot-romeo-v3-2.0.1.tar.gz) = cf8af22c3abee4440f6ff4bbee227d615b24be42
+RMD160 (sot-romeo-v3-2.0.1.tar.gz) = c6a0900a0fce48bab39ffd36d0e49520fd311e5c
+Size (sot-romeo-v3-2.0.1.tar.gz) = 760350 bytes
diff --git a/sot-romeo-v3/patches/patch-aa b/sot-romeo-v3/patches/patch-aa
deleted file mode 100644
index c3ab96d5f3c37be38f2da40a905aa63a1a17f6b6..0000000000000000000000000000000000000000
--- a/sot-romeo-v3/patches/patch-aa
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git CMakeLists.txt CMakeLists.txt
-index 6b72db5..5fab46a 100644
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -45,7 +45,7 @@ ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0")
- ADD_REQUIRED_DEPENDENCY("sot-tools")
- ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
-
--ADD_ROSPACK_DEPENDENCY("dynamic_graph_bridge >= 3.0.0")
-+ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge >= 3.0.0")
- # Search for dependencies.
- # Boost
- SET(BOOST_COMPONENTS filesystem system thread)
diff --git a/sot-romeo-v3/patches/patch-ab b/sot-romeo-v3/patches/patch-ab
deleted file mode 100644
index 87849cb18482e55ab31b17195cab244ff7d7a1fa..0000000000000000000000000000000000000000
--- a/sot-romeo-v3/patches/patch-ab
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git src/CMakeLists.txt src/CMakeLists.txt
-index 91cd64f..db40b6f 100644
---- src/CMakeLists.txt
-+++ src/CMakeLists.txt
-@@ -71,7 +71,7 @@ PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph")
- PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph-python")
- PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "sot-core")
-
--ROSPACK_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
-+PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
-
-
- IF(UNIX AND NOT APPLE)
diff --git a/sot-romeo-v3/patches/patch-ac b/sot-romeo-v3/patches/patch-ac
deleted file mode 100644
index bd94cacce11fccc884105ddeeed63b9b97c4c2fc..0000000000000000000000000000000000000000
--- a/sot-romeo-v3/patches/patch-ac
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git CMakeLists.txt CMakeLists.txt
-index 5fab46a..40d817b 100644
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -54,6 +54,7 @@ SEARCH_FOR_EIGEN()
-
- # Handle rpath necessary to handle ROS multiplace packages
- # libraries inclusion
-+SET(CMAKE_INSTALL_LIBDIR lib)
- SET(CMAKE_SKIP_BUILD_RPATH FALSE)
- SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
- SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
diff --git a/sot-romeo-v3/patches/patch-ad b/sot-romeo-v3/patches/patch-ad
deleted file mode 100644
index 75f40c5ecc746383e465db8cc04e473b7403c7b7..0000000000000000000000000000000000000000
--- a/sot-romeo-v3/patches/patch-ad
+++ /dev/null
@@ -1,51 +0,0 @@
-diff --git src/CMakeLists.txt src/CMakeLists.txt
-index db40b6f..dc75a50 100644
---- src/CMakeLists.txt
-+++ src/CMakeLists.txt
-@@ -39,7 +39,7 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
- ENDFUNCTION()
-
- # Compile plug-ins.
--COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
-+# COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
-
-
- ##
-diff --git src/dynamic-romeo.cpp src/dynamic-romeo.cpp
-index 9d9daa8..b419cfd 100644
---- src/dynamic-romeo.cpp
-+++ src/dynamic-romeo.cpp
-@@ -35,7 +35,6 @@ namespace dynamicgraph
- : Dynamic (name)
- {
- sotDEBUGIN(15);
-- DynamicRomeo::createRobot();
- sotDEBUGOUT(15);
- }
-
-diff --git src/dynamic_graph/sot/romeo/robot.py src/dynamic_graph/sot/romeo/robot.py
-index e9ea89f..9fce636 100644
---- src/dynamic_graph/sot/romeo/robot.py
-+++ src/dynamic_graph/sot/romeo/robot.py
-@@ -16,7 +16,7 @@
-
- from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
- from dynamic_graph.ros import RosRobotModel
--
-+import pinocchio as se3
- from rospkg import RosPack
-
- # Sot model for the romeo_small.urdf (with gripper, no fingers)
-@@ -204,6 +204,12 @@ class Robot (AbstractHumanoidRobot):
- self.dynamic = RosRobotModel("{0}_dynamic".format(name))
- for i in self.jointMap:
- self.dynamic.addJointMapping(i, self.jointMap[i])
-+
-+ self.pinocchioModel = se3.buildModelFromUrdf(self.urdfDir + self.urdfName,
-+ se3.JointModelFreeFlyer())
-+ self.pinocchioData = self.pinocchioModel.createData()
-+ self.dynamic.setModel(self.pinocchioModel)
-+ self.dynamic.setData(self.pinocchioData)
- self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
-
- # complete feet position (TODO: move it into srdf file)
diff --git a/sot-romeo-v3/patches/patch-ae b/sot-romeo-v3/patches/patch-ae
deleted file mode 100644
index 4887adc1ccd2baccda4a2e0a2dcca5bc5cb9c546..0000000000000000000000000000000000000000
--- a/sot-romeo-v3/patches/patch-ae
+++ /dev/null
@@ -1,29 +0,0 @@
-diff --git src/dynamic_graph/sot/romeo/robot.py src/dynamic_graph/sot/romeo/robot.py
-index 9fce636..d543666 100644
---- src/dynamic_graph/sot/romeo/robot.py
-+++ src/dynamic_graph/sot/romeo/robot.py
-@@ -168,8 +168,6 @@ class Robot (AbstractHumanoidRobot):
- #0.0,
- )
-
-- jointMap = { }
-- jointMap['BODY'] = 'body'
-
- def __init__(self, name,
- device = None,
-@@ -202,15 +200,12 @@ class Robot (AbstractHumanoidRobot):
-
- # correct the name of the body link
- self.dynamic = RosRobotModel("{0}_dynamic".format(name))
-- for i in self.jointMap:
-- self.dynamic.addJointMapping(i, self.jointMap[i])
-
- self.pinocchioModel = se3.buildModelFromUrdf(self.urdfDir + self.urdfName,
- se3.JointModelFreeFlyer())
- self.pinocchioData = self.pinocchioModel.createData()
- self.dynamic.setModel(self.pinocchioModel)
- self.dynamic.setData(self.pinocchioData)
-- self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
-
- # complete feet position (TODO: move it into srdf file)
- #ankle =self.dynamic.getAnklePositionInFootFrame()
diff --git a/sot-romeo-v3/patches/patch-af b/sot-romeo-v3/patches/patch-af
deleted file mode 100644
index 18833c68794cc8224cb41fdc67f888d84cd37aee..0000000000000000000000000000000000000000
--- a/sot-romeo-v3/patches/patch-af
+++ /dev/null
@@ -1,11 +0,0 @@
---- CMakeLists.txt 2017-02-02 14:42:54.429473773 +0100
-+++ CMakeLists.txt.new 2017-02-02 14:43:26.486211731 +0100
-@@ -43,7 +43,7 @@
- ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >=3.0")
- ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0")
- ADD_REQUIRED_DEPENDENCY("sot-tools")
--ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
-+ADD_REQUIRED_DEPENDENCY("sot-dynamic-pinocchio >= 3.1")
-
- ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge >= 3.0.0")
- # Search for dependencies.