diff --git a/sot-application/DESCR b/sot-application/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..71303d79949d41cd3d1f0dc7c25869ce64b1cbbf
--- /dev/null
+++ b/sot-application/DESCR
@@ -0,0 +1,6 @@
+This package provides python initializations scripts for the Stack of Tasks.
+
+These scripts are aimed at initializing control graphs dependending on the application:
+
+    type of control variable (velocity, acceleration, torque)
+    type of solver (equality only inequality and equality).
diff --git a/sot-application/Makefile b/sot-application/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..018021af2d96d8d59464a02871c233873bc9d898
--- /dev/null
+++ b/sot-application/Makefile
@@ -0,0 +1,21 @@
+# robotpkg Makefile for:	robots/sot-application
+# Created:			Aurélie Clodic on Wed, 11 Jun 2014
+#
+DISTNAME=		sot-application-1.0.0
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-application/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-application
+
+CATEGORIES=		robots
+COMMENT=		This packages provides a generic Stack Of Tasks library for the humanoid robot Romeo.
+LICENSE=		gnu-lgpl-v3
+MAINTAINER=		hpp@laas.fr
+
+include ../../motion/sot-dynamic/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/pdflatex.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/sot-application/depend.mk b/sot-application/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..ca49c443ba5d9cf44dc930a98e8d837801dde872
--- /dev/null
+++ b/sot-application/depend.mk
@@ -0,0 +1,26 @@
+# robotpkg depend.mk for:	robots/sot-application
+# Created:			Aurélie Clodic on Wed, 10 Jun 2014
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+SOT_APPLICATION_DEPEND_MK:=	${SOT_APPLICATION_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		sot-application
+endif
+
+ifeq (+,$(SOT_APPLICATION_DEPEND_MK)) # -------------------------------------------
+
+PREFER.sot-application?=	robotpkg
+
+SYSTEM_SEARCH.sot-application=\
+	'lib/pkgconfig/sot-romeo.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		sot-application
+
+DEPEND_ABI.sot-romeo?=	sot-application>=1.0.0
+DEPEND_DIR.sot-romeo?=	../../robots/sot-application
+
+endif # SOT_ROMEO_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/sot-application/distinfo b/sot-application/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..8b13b9ea4ac67286b07c074d51e12eadf5a13b63
--- /dev/null
+++ b/sot-application/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-application-1.0.0.tar.gz) = 2437ba960fad682b838e0f91602e5a2c616050e5
+RMD160 (sot-application-1.0.0.tar.gz) = 1240285688ff10f97ebc9df5568ac4a1832cfaf9
+Size (sot-application-1.0.0.tar.gz) = 85203 bytes