diff --git a/Makefile b/Makefile
index 45de408a210ebc125cb0fea4ae1ff5ada7b28ca7..b88ffc261ce394c78648ac33ecc2998caf88e8f0 100644
--- a/Makefile
+++ b/Makefile
@@ -92,6 +92,7 @@ SUBDIR+=	ros-realtime-tools
 SUBDIR+= 	rtslam-genom
 SUBDIR+=	sot-application
 SUBDIR+=	sot-romeo
+SUBDIR+=	soth
 SUBDIR+=	spark-genom
 SUBDIR+=	sparkyarp-genom
 SUBDIR+=	tcl-genomix
diff --git a/soth/DESCR b/soth/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..a13d3e2955192395aa28dcf4adf496fde3865036
--- /dev/null
+++ b/soth/DESCR
@@ -0,0 +1 @@
+SOT Hierarchical solver
diff --git a/soth/Makefile b/soth/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..851792fb5649bba87fe95b35398325f5f5e88e0b
--- /dev/null
+++ b/soth/Makefile
@@ -0,0 +1,38 @@
+# robotpkg Makefile for:	wip/soth
+# Created:			Aurelie Clodic on Thu, 30 Oct 2014
+#
+
+PKGNAME=		soth-${VERSION}
+DISTNAME=		soth-${VERSION}
+VERSION=		2.0.0
+#PKGREVISION=		
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=soth/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/soth
+
+MAINTAINER=	hpp@laas.fr
+CATEGORIES=	wip
+COMMENT=	SOT Hierarchical solver
+LICENSE=	gnu-lgpl-v3
+
+DYNAMIC_PLIST_DIRS+=	share/doc/soth
+
+#CMAKE_ARGS+=		-DPYTHON_EXECUTABLE=${PYTHON}
+#CMAKE_ARGS+=		-DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE}
+#CMAKE_ARGS+=		-DPYTHON_LIBRARY=${PYTHON_LIB}
+#CMAKE_ARGS+=		-DPYTHON_SITELIB=${PYTHON_SITELIB}
+#CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+
+# Build the package in a separate directory
+#CONFIGURE_DIRS=		_build
+#CMAKE_ARG_PATH=		..
+
+include ../../math/eigen3/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/soth/PLIST b/soth/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..e8cea8b53b9456d923c5576e980b50c26cc980ef
--- /dev/null
+++ b/soth/PLIST
@@ -0,0 +1,23 @@
+@comment Thu Oct 30 17:06:15 CET 2014
+include/soth/ActiveSet.hpp
+include/soth/Algebra.hpp
+include/soth/Allocator.hpp
+include/soth/BaseY.hpp
+include/soth/BasicStage.hpp
+include/soth/Bound.hpp
+include/soth/DestructiveColPivQR.hpp
+include/soth/Givens.hpp
+include/soth/HCOD.hpp
+include/soth/Random.hpp
+include/soth/Stage.hpp
+include/soth/SubMatrix.hpp
+include/soth/api.hpp
+include/soth/config.h
+include/soth/config.hh
+include/soth/debug.hpp
+include/soth/deprecated.hh
+include/soth/solvers.hpp
+include/soth/warning.hh
+lib/libsoth.so
+lib/libsoth.so.${PKGVERSION}
+lib/pkgconfig/soth.pc
\ No newline at end of file
diff --git a/soth/depend.mk b/soth/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..94d0ba5f39a533b6520a332c686e1ff0a0f1f0c4
--- /dev/null
+++ b/soth/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/soth
+# Created:			Aurelie Clodic on Thu, 30 Oct 2014
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+SOT_CORE_DEPEND_MK:=	${SOTH_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		soth
+endif
+
+ifeq (+,$(SOTH_DEPEND_MK)) # -------------------------------------------
+
+PREFER.soth?=	robotpkg
+
+SYSTEM_SEARCH.soth=\
+	include/sot/config.h				\
+	lib/libsoth.so					\
+	'lib/pkgconfig/soth.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		soth
+
+DEPEND_ABI.soth?=	soth>=2.0.0
+DEPEND_DIR.soth?=	../../wip/soth
+
+endif # SOTH_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/soth/distinfo b/soth/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..d7b151b96ba7d9fdf3d97a6189eca3b875e2eef5
--- /dev/null
+++ b/soth/distinfo
@@ -0,0 +1,3 @@
+SHA1 (soth-2.0.0.tar.gz) = 6aaa8e14ac9c11402ae0641a178a2a7bf85dd888
+RMD160 (soth-2.0.0.tar.gz) = 66fc0e933512f54863cee8576d80c97605657e2a
+Size (soth-2.0.0.tar.gz) = 294241 bytes