diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index 1bcaf84cb439b04d4df483b8d490211972ade99e..8ccc2d1b8aebf755bed82caad3ddea78cc56ddcb 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -2,36 +2,32 @@
# Created: Olivier Stasse on Wed Feb 21 18:07:40 CET 2018
#
-PKGNAME= sot-torque-control-${VERSION}
-DISTNAME= sot-torque-control-${VERSION}
-VERSION= 1.0.0
-PKGREVISION= 2
+ORG= stack-of-tasks
+NAME= sot-torque-control
+VERSION= 1.0.0
+PKGREVISION= 3
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-torque-control/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/sot-torque-control
+DISTNAME= ${NAME}-${VERSION}
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}.git
CHECKOUT_VCS_OPTS= --recursive
-MAINTAINER= gepetto@laas.fr
-CATEGORIES= wip
-COMMENT= Torque control for humanoids
-LICENSE= 2-clause-bsd
+MAINTAINER= gepetto@laas.fr
+CATEGORIES= wip
+COMMENT= Torque control for humanoids
+LICENSE= 2-clause-bsd
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
WRKSRC= ${WRKDIR}/${DISTNAME:a=}
-DYNAMIC_PLIST_DIRS+= share/doc/sot-torque-control
-
-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
+DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../math/eigen3/depend.mk
include ../../math/pinocchio/depend.mk
-include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
include ../../wip/tsid/depend.mk
@@ -41,12 +37,6 @@ 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/sysdep/py-sphinx.mk
-include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/robotpkg.mk
-
-pre-configure:
- ${RUN}${MKDIR} ${WRKSRC}/_build
diff --git a/sot-torque-control/PLIST b/sot-torque-control/PLIST
index f6441ed251205baac89821b78d48ec65eb1ca521..ee69c8ef522854e504a8d8ecb787d477dee21b8f 100644
--- a/sot-torque-control/PLIST
+++ b/sot-torque-control/PLIST
@@ -13,6 +13,7 @@ include/sot/torque_control/filter-differentiator.hh
include/sot/torque_control/free-flyer-locator.hh
include/sot/torque_control/imu_offset_compensation.hh
include/sot/torque_control/inverse-dynamics-balance-controller.hh
+include/sot/torque_control/joint-torque-controller.hh
include/sot/torque_control/joint-trajectory-generator.hh
include/sot/torque_control/madgwickahrs.hh
include/sot/torque_control/motor-model.hh
@@ -71,56 +72,3 @@ lib/plugin/torque-offset-estimator.so
lib/plugin/torque-offset-estimator.so.${PKGVERSION}
lib/plugin/trace-player.so
lib/plugin/trace-player.so.${PKGVERSION}
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/admittance_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/admittance_controller/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/common_sot_py.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/create_entities_utils.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/current_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/current_controller/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/filter_differentiator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/filter_differentiator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/identification/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/identification/identification_utils.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/imu_offset_compensation/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/imu_offset_compensation/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/madgwickahrs/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/madgwickahrs/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/main.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/main_sim.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/nd_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/nd_trajectory_generator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests/robot_data_test.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests/test_balance_ctrl_openhrp.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests/test_control_manager.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests/test_velocity_filters.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/torque_offset_estimator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/torque_offset_estimator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/utils/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/utils/filter_utils.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/utils/plot_utils.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/utils/sot_utils.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/wrap.so