diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index 52f6715436b89ba42287653854d40755e927f304..03b1c008c241c4a5f3bf703f112ac3333a9073dc 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -11,6 +11,8 @@ COMMENT=			Torque control for humanoids (python bindings)
 LICENSE=			2-clause-bsd
 MAINTAINER=			gepetto-soft@laas.fr
 
+CMAKE_ARGS+=			-DqpOASES_PREFIX=${PREFIX.qpoases}
+
 USE_PYTHON_ONLY=		true
 
 include ../../${CATEGORIES}/${NAME}/depend.mk
@@ -23,6 +25,7 @@ include ../../mapping/octomap/depend.mk
 include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
 include ../../math/py-pinocchio/depend.mk
+include ../../optimization/qpoases/depend.mk
 include ../../path/hpp-fcl/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
diff --git a/py-sot-torque-control/distinfo b/py-sot-torque-control/distinfo
index 973634a0f20326cc1816c3ba671f3785b55a3d89..dee02dd909bc8ec1b8cdf20a411528afb55051d3 100644
--- a/py-sot-torque-control/distinfo
+++ b/py-sot-torque-control/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-torque-control-1.5.0.tar.gz) = 814e4b4804af6a983169c33d05ad5c195277940f
 RMD160 (sot-torque-control-1.5.0.tar.gz) = c24ad9e0b94b37a35feb847dc13fa5e2d86d8638
 Size (sot-torque-control-1.5.0.tar.gz) = 2000390 bytes
+SHA1 (patch-aa) = fdcf7a71bb3f0da8c9fb6ae79d2175057d084eca
diff --git a/py-sot-torque-control/patches/patch-aa b/py-sot-torque-control/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..d89a39c2317e39e227b7b39925e837a1a48b32d0
--- /dev/null
+++ b/py-sot-torque-control/patches/patch-aa
@@ -0,0 +1,17 @@
+--- cmake/find-external/qpOASES/FindqpOASES.cmake.orig	2019-11-25 14:33:39.000000000 +0100
++++ cmake/find-external/qpOASES/FindqpOASES.cmake	2019-11-26 18:13:48.117466759 +0100
+@@ -27,11 +27,11 @@
+ 
+ FIND_PATH(qpOASES_INCLUDE_DIR
+   NAMES qpOASES.hpp
+-  PATHS ${qpOASES_PREFIX}
++  PATHS ${qpOASES_PREFIX} ${qpOASES_PREFIX}/include
+   )
+ FIND_LIBRARY(qpOASES_LIBRARY
+-  NAMES libqpOASES.so
+-  PATHS ${qpOASES_PREFIX}
++  NAMES qpOASES
++  PATHS ${qpOASES_PREFIX} ${qpOASES_PREFIX}/lib
+   )
+ 
+ SET(qpOASES_LIBRARIES ${qpOASES_LIBRARY})
diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index 791af4f392544360b19df91e225f3cf5772d791a..b0a253807cbd424ba04a634bd5d711a46dd1b94a 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -12,6 +12,7 @@ LICENSE=			2-clause-bsd
 MAINTAINER=			gepetto-soft@laas.fr
 
 CMAKE_ARGS+=		-DBUILD_PYTHON_INTERFACE=OFF
+CMAKE_ARGS+=		-DqpOASES_PREFIX=${PREFIX.qpoases}
 
 include ../../devel/jrl-cmakemodules/Makefile.common
 include ../../devel/boost-headers/depend.mk
@@ -21,6 +22,7 @@ include ../../graphics/urdfdom/depend.mk
 include ../../mapping/octomap/depend.mk
 include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
+include ../../optimization/qpoases/depend.mk
 include ../../path/hpp-fcl/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
diff --git a/sot-torque-control/distinfo b/sot-torque-control/distinfo
index 973634a0f20326cc1816c3ba671f3785b55a3d89..dee02dd909bc8ec1b8cdf20a411528afb55051d3 100644
--- a/sot-torque-control/distinfo
+++ b/sot-torque-control/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-torque-control-1.5.0.tar.gz) = 814e4b4804af6a983169c33d05ad5c195277940f
 RMD160 (sot-torque-control-1.5.0.tar.gz) = c24ad9e0b94b37a35feb847dc13fa5e2d86d8638
 Size (sot-torque-control-1.5.0.tar.gz) = 2000390 bytes
+SHA1 (patch-aa) = fdcf7a71bb3f0da8c9fb6ae79d2175057d084eca
diff --git a/sot-torque-control/patches/patch-aa b/sot-torque-control/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..d89a39c2317e39e227b7b39925e837a1a48b32d0
--- /dev/null
+++ b/sot-torque-control/patches/patch-aa
@@ -0,0 +1,17 @@
+--- cmake/find-external/qpOASES/FindqpOASES.cmake.orig	2019-11-25 14:33:39.000000000 +0100
++++ cmake/find-external/qpOASES/FindqpOASES.cmake	2019-11-26 18:13:48.117466759 +0100
+@@ -27,11 +27,11 @@
+ 
+ FIND_PATH(qpOASES_INCLUDE_DIR
+   NAMES qpOASES.hpp
+-  PATHS ${qpOASES_PREFIX}
++  PATHS ${qpOASES_PREFIX} ${qpOASES_PREFIX}/include
+   )
+ FIND_LIBRARY(qpOASES_LIBRARY
+-  NAMES libqpOASES.so
+-  PATHS ${qpOASES_PREFIX}
++  NAMES qpOASES
++  PATHS ${qpOASES_PREFIX} ${qpOASES_PREFIX}/lib
+   )
+ 
+ SET(qpOASES_LIBRARIES ${qpOASES_LIBRARY})