diff --git a/hpp-rbprm-corba/Makefile b/hpp-rbprm-corba/Makefile
index 9193775e317acf024f7dbd5ea81ffa1a0e9d6efc..b74d4b027229dd7e27fa5c2546af809f53c4c145 100644
--- a/hpp-rbprm-corba/Makefile
+++ b/hpp-rbprm-corba/Makefile
@@ -2,17 +2,19 @@
 # Created:			Guilhem Saurel on Wed, 30 Jan 2019
 #
 
-HPP_PACKAGE=	hpp-rbprm-corba
-HPP_COMMENT=	Corba server for RB-PRM
+HPP_PACKAGE=		hpp-rbprm-corba
+HPP_COMMENT=		Corba server for RB-PRM
 
-CATEGORIES=	wip
+CATEGORIES=		wip
 
-DEPEND_ABI.octomap=		octomap>=1.8.0
+DEPEND_ABI.octomap=	octomap>=1.8.0
 
 MAKE_JOBS_SAFE=	no # because multiple parallel omniidl won't work
 
 CONFIGURE_DIRS=		build
-CMAKE_ARG_PATH= ..
+CMAKE_ARG_PATH=		..
+
+USE_PYTHON=		true
 
 include ../../meta-pkgs/hpp/Makefile.common
 
diff --git a/hpp-rbprm-corba/PLIST b/hpp-rbprm-corba/PLIST
index 59dddabbd9b4ca2c70c205ebd4c5b66a2a974c11..b7e02a477c0240640bcb51cf7864ef60df3a9881 100644
--- a/hpp-rbprm-corba/PLIST
+++ b/hpp-rbprm-corba/PLIST
@@ -5,15 +5,17 @@ include/hpp/corbaserver/rbprm/deprecated.hh
 include/hpp/corbaserver/rbprm/rbprmbuilder-idl.hh
 include/hpp/corbaserver/rbprm/server.hh
 include/hpp/corbaserver/rbprm/warning.hh
-lib/libhpp-rbprm-corba.so
+lib/hppPlugins/rbprm-corba.so
 lib/pkgconfig/hpp-rbprm-corba.pc
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/__init__.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/client.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/fewstepsplanner.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/rbprmbuilder.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/rbprmfullbody.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/rbprmstate.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/state_alg.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/__init__.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/affordance_centroids.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/com_constraints.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
diff --git a/hpp-rbprm-corba/depend.mk b/hpp-rbprm-corba/depend.mk
index a204a8e38c49ae64c019051d0a7f06d84705100c..22e950124198568e28066a07b2e6fd61b097d3f8 100644
--- a/hpp-rbprm-corba/depend.mk
+++ b/hpp-rbprm-corba/depend.mk
@@ -19,8 +19,8 @@ DEPEND_ABI.hpp-rbprm-corba?=	hpp-rbprm-corba>=4.6.0
 DEPEND_DIR.hpp-rbprm-corba?=	../../wip/hpp-rbprm-corba
 
 SYSTEM_SEARCH.hpp-rbprm-corba=\
-	include/hpp/corbaserver/rbprm/config.hh	\
-	lib/libhpp-rbprm-corba.so	\
+	include/hpp/corbaserver/rbprm/config.hh	i			\
+	lib/hppPlugins/rbprm-corba.so					\
 	'lib/pkgconfig/hpp-rbprm-corba.pc:/Version/s/[^0-9.]//gp'
 
 endif # HPP_RBPRM_CORBA_DEPEND_MK --------------------------------------------
diff --git a/hpp-rbprm-corba/distinfo b/hpp-rbprm-corba/distinfo
index 03e99f21c3f7713e124a6f5642f12ba8c6e37c33..62e052397d09741e225fd3435fcb6f94500eec8a 100644
--- a/hpp-rbprm-corba/distinfo
+++ b/hpp-rbprm-corba/distinfo
@@ -1,3 +1,3 @@
-SHA1 (hpp-rbprm-corba-4.6.0.tar.gz) = ef5e83f9eedb4f863f02fc2585179de979f765f5
-RMD160 (hpp-rbprm-corba-4.6.0.tar.gz) = 3820db061883f6386f9576cbc312b7c7fe72b5db
-Size (hpp-rbprm-corba-4.6.0.tar.gz) = 31618818 bytes
+SHA1 (hpp-rbprm-corba-4.7.0.tar.gz) = a362a05965cdb76ea2c29bc93895eaa9f489c6a7
+RMD160 (hpp-rbprm-corba-4.7.0.tar.gz) = 22572f81b009299a7bf01985d0a2bfb375a87f6f
+Size (hpp-rbprm-corba-4.7.0.tar.gz) = 31644468 bytes