diff --git a/Makefile b/Makefile
index dbdbdf92b9e149a9c6b36dbbcfbef3f64db218b7..f5db9b39bc81f792560f937740e6622030352afa 100644
--- a/Makefile
+++ b/Makefile
@@ -104,6 +104,7 @@ SUBDIR+= py-sot-dynamic-pinocchio-v3
#SUBDIR+= py-sot-dyninv-v3
SUBDIR+= py-sot-pattern-generator-v3
SUBDIR+= py-sot-talos-balance
+SUBDIR+= py-sot-tiago
SUBDIR+= py-sot-tools-v3
SUBDIR+= py-sot-torque-control
SUBDIR+= py-talos-rbprm
@@ -139,7 +140,6 @@ SUBDIR+= sot-hrp2-v3
SUBDIR+= sot-pattern-generator-v3
SUBDIR+= sot-talos
SUBDIR+= sot-talos-balance
-SUBDIR+= sot-tiago
SUBDIR+= sot-tools-v3
SUBDIR+= sot-torque-control
SUBDIR+= talos-data
diff --git a/sot-tiago/DESCR b/py-sot-tiago/DESCR
similarity index 100%
rename from sot-tiago/DESCR
rename to py-sot-tiago/DESCR
diff --git a/sot-tiago/Makefile b/py-sot-tiago/Makefile
similarity index 77%
rename from sot-tiago/Makefile
rename to py-sot-tiago/Makefile
index 4c569b56c7dc127e49802484a78e08e8314cc45a..3d1f1a4561607513ac6a46ad6ff0773591ff6fde 100644
--- a/sot-tiago/Makefile
+++ b/py-sot-tiago/Makefile
@@ -1,28 +1,19 @@
-# robotpkg Makefile for: wip/sot-tiago
+# robotpkg Makefile for: wip/py-sot-tiago
# Created: Olivier Stasse, on Wed. 1st May, 2019
#
ORG= stack-of-tasks
NAME= sot-tiago
-VERSION= 1.2.0
-PKGREVISION= 1
-
-PKGNAME= ${NAME}-${VERSION}
-DISTNAME= ${NAME}-${VERSION}
-DIST_SUBDIR= ${PKGBASE}
-
-HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${NAME}}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=tiago/${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}
-CHECKOUT_VCS_OPTS+= --recursive
+VERSION= 1.3.0
CATEGORIES= wip
COMMENT= This packages provides a generic Stack Of Tasks library for the mobile robot Tiago.
LICENSE= 2-clause-bsd
MAINTAINER= ostasse@laas.fr
-DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
+USE_PYTHON= true
+include ../../devel/jrl-cmakemodules/Makefile.common
include ../../wip/tiago-data/depend.mk
include ../../wip/py-sot-application-v3/depend.mk
#include ../../wip/sot-dyninv-v3/depend.mk
diff --git a/sot-tiago/PLIST b/py-sot-tiago/PLIST
similarity index 87%
rename from sot-tiago/PLIST
rename to py-sot-tiago/PLIST
index 9e2f7f33a37429d62ed1a5f78404eb501e710ffb..6c8b877185c081ec95f7476370f7288e4110c5ca 100644
--- a/sot-tiago/PLIST
+++ b/py-sot-tiago/PLIST
@@ -4,14 +4,15 @@ include/sot-tiago/deprecated.hh
include/sot-tiago/warning.hh
lib/libsot-tiago-device.so
lib/libsot-tiago-steel-controller.so
+lib/libsot-tiago-steel-without-wheels-controller.so
lib/pkgconfig/sot-tiago.pc
lib/plugin/libdiff-drive-controller.so
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/diff_drive_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/tiago/diff_drive_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/tiago/diff_drive_controller/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/robot.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/sot_tiago_device/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/tiago/sot_tiago_device/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/tiago/sot_tiago_device/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/steel/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/steel/prologue.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/steel/robot.py
diff --git a/py-sot-tiago/depend.mk b/py-sot-tiago/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..f66a0b53e6393ca592036f7f248ad9025f834ad3
--- /dev/null
+++ b/py-sot-tiago/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for: wip/py-sot-tiago
+# Created: Olivier Stasse on 1st May 2019
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_SOT_TIAGO_DEPEND_MK:= ${PY_SOT_TIAGO_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= py-sot-tiago
+endif
+
+ifeq (+,$(PY_SOT_TIAGO_DEPEND_MK)) # -------------------------------------------
+
+include ../../mk/sysdep/python.mk
+
+PREFER.py-sot-tiago?= robotpkg
+
+SYSTEM_SEARCH.py-sot-tiago=\
+ include/sot-tiago/config.hh \
+ 'lib/pkgconfig/sot-tiago.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+= py-sot-tiago
+
+DEPEND_ABI.py-sot-tiago?= ${PKGTAG.python-}sot-tiago>=1.3.0
+DEPEND_DIR.py-sot-tiago?= ../../wip/py-sot-tiago
+
+endif # PY_SOT_TIAGO_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-sot-tiago/distinfo b/py-sot-tiago/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..549816c8d3fa4dc4bc57204463389397966adca0
--- /dev/null
+++ b/py-sot-tiago/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-tiago-1.3.0.tar.gz) = f62aa1f564c8865c466018787ba61dc0eab5e739
+RMD160 (sot-tiago-1.3.0.tar.gz) = 406cbf66cd38aab979754fb0b97794c008466f65
+Size (sot-tiago-1.3.0.tar.gz) = 819578 bytes
diff --git a/sot-tiago/depend.mk b/sot-tiago/depend.mk
deleted file mode 100644
index 9f9a156c3ee3066e28b37142a38f72de121b8840..0000000000000000000000000000000000000000
--- a/sot-tiago/depend.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-# robotpkg depend.mk for: wip/sot-tiago
-# Created: Olivier Stasse on 1st May 2019
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-SOT_TIAGO_DEPEND_MK:= ${SOT_TIAGO_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= sot-tiago
-endif
-
-ifeq (+,$(SOT_TIAGO_DEPEND_MK)) # -------------------------------------------
-
-PREFER.sot-tiago?= robotpkg
-
-SYSTEM_SEARCH.sot-tiago=\
- include/sot-tiago/config.hh \
- 'lib/pkgconfig/sot-tiago.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= sot-tiago
-
-DEPEND_ABI.sot-tiago?= sot-tiago>=0.0.1
-DEPEND_DIR.sot-tiago?= ../../wip/sot-tiago
-
-endif # SOT_TIAGO_DEPEND_MK -------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/sot-tiago/distinfo b/sot-tiago/distinfo
deleted file mode 100644
index e95fb6923b04751464f3081091746a59e48b356d..0000000000000000000000000000000000000000
--- a/sot-tiago/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (sot-tiago/sot-tiago-1.2.0.tar.gz) = 76b052d3ba2edf1459a8fbb04b4ae509caddee17
-RMD160 (sot-tiago/sot-tiago-1.2.0.tar.gz) = e2f8394b74f2fb332ea6ce5c650e35ef7a023a40
-Size (sot-tiago/sot-tiago-1.2.0.tar.gz) = 777118 bytes
-SHA1 (patch-aa) = ddde5a9bfc12af3ecdc97b0623c4fc82a200417c
diff --git a/sot-tiago/patches/patch-aa b/sot-tiago/patches/patch-aa
deleted file mode 100644
index ca5c10fad2f806687386470c7f97e648bcc0e6ea..0000000000000000000000000000000000000000
--- a/sot-tiago/patches/patch-aa
+++ /dev/null
@@ -1,21 +0,0 @@
---- src/sot-tiago-controller.cpp
-+++ src/sot-tiago-controller.cpp
-@@ -11,6 +11,7 @@
- *
- */
-
-+#include <pinocchio/fwd.hpp>
- #include <sot/core/debug.hh>
- #include <sot/core/exception-abstract.hh>
- #include <dynamic_graph_bridge/ros_init.hh>
---- src/sot-tiago-steel-controller.cpp
-+++ src/sot-tiago-steel-controller.cpp
-@@ -14,6 +14,7 @@
- # error "You must define TIAGO_STEEL_WITH_WHEELS to 0 or 1"
- #endif
-
-+#include <pinocchio/fwd.hpp>
- #include <sot/core/debug.hh>
-
- /* TiagoSteel is the instance of TIAGO named "steel" */
-
diff --git a/tiago-dev/Makefile b/tiago-dev/Makefile
index 184bfe5143af3b77754eefc4ab04c7e061b292c3..45538514774d95aebbe51d373997d7bba0a046a8 100644
--- a/tiago-dev/Makefile
+++ b/tiago-dev/Makefile
@@ -10,7 +10,7 @@ COMMENT= Tiago dev Software
META_PACKAGE= yes
-include ../sot-tiago/depend.mk
+include ../py-sot-tiago/depend.mk
include ../tiago-metapkg-ros-control-sot/depend.mk
include ../prf-gazebo-ros-pkgs/depend.mk
include ../tiago-simulation/depend.mk