diff --git a/agimus-sot/Makefile b/agimus-sot/Makefile
index 5732d1670356891c11d00866107dde4c14aec821..80ab5fe5a07a1854c11ca90469be41e4d36dc8d4 100644
--- a/agimus-sot/Makefile
+++ b/agimus-sot/Makefile
@@ -22,7 +22,6 @@ include ../../wip/agimus-sot-msgs/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../path/py-hpp-manipulation-corba/depend.mk
include ../../devel/ros-catkin/depend.mk
include ../../mk/language/c.mk
diff --git a/py-dynamic-graph-bridge-v3/Makefile b/py-dynamic-graph-bridge-v3/Makefile
index f3a1cc3712a2d06bbe7abdd676553ec2fdaf8753..6283609d183e03c86b1f174fcd2f5071a70e95fd 100644
--- a/py-dynamic-graph-bridge-v3/Makefile
+++ b/py-dynamic-graph-bridge-v3/Makefile
@@ -40,7 +40,6 @@ include ../../pkgtools/pkg-config/depend.mk
include ../../sysutils/ros-rospack/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../mk/sysdep/bullet.mk
include ../../mk/sysdep/cmake.mk
diff --git a/py-roscontrol-sot/Makefile b/py-roscontrol-sot/Makefile
index cf6caa0f24643bde7d4bc8cf3245d1dde8bb5ad2..700d537367c6aec19ac601aa2ccdceed9ee88c92 100644
--- a/py-roscontrol-sot/Makefile
+++ b/py-roscontrol-sot/Makefile
@@ -44,7 +44,7 @@ include ../../math/ros-geometry/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
include ../../math/pinocchio/depend.mk
include ../../mk/robotpkg.prefs.mk
diff --git a/py-sot-application-v3/Makefile b/py-sot-application-v3/Makefile
index 2a6c634fc21eb93dbfe01b4c7b0d3d60c3292115..79659b6b5a1cec445a490161dc75344e5d1d9fee 100644
--- a/py-sot-application-v3/Makefile
+++ b/py-sot-application-v3/Makefile
@@ -18,7 +18,6 @@ include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/py-sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/sot-tools-v3/depend.mk
include ../../wip/py-sot-tools-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
diff --git a/py-sot-core-v3/DESCR b/py-sot-core-v3/DESCR
index 8dc6123f74e38eeef9bb97a2d848a51f05c78e32..b021b9de60cf54ae6cbc894ca0993703f8a77d34 100644
--- a/py-sot-core-v3/DESCR
+++ b/py-sot-core-v3/DESCR
@@ -1 +1 @@
-Hierarchical task based control of humanoid robots (python bindings)
+Hierarchical task based control of humanoid robots
diff --git a/py-sot-core-v3/Makefile b/py-sot-core-v3/Makefile
index 762aaabde1f51659aa2f0b7e1fb9ab081ce482e9..9b612115de5c288adcaef1e8762d029c3d0967fe 100644
--- a/py-sot-core-v3/Makefile
+++ b/py-sot-core-v3/Makefile
@@ -2,10 +2,9 @@
# Created: Rohan Budhiraja on Wed Dec 16 15:33:40 CET 2015
#
-PKGREVISION= 1
ORG= stack-of-tasks
NAME= sot-core
-VERSION= 4.11.6
+VERSION= 4.11.7
PKGNAME= ${PKGTAG.python-}${NAME}-v3-${VERSION}
@@ -13,11 +12,9 @@ CATEGORIES= wip
COMMENT= Hierarchical task based control of humanoid robots (python bindings)
CONFLICTS+= py[0-9][0-9]-${NAME}
-
-USE_PYTHON_ONLY= true
+CONFLICTS+= ${NAME} # Old packages
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../${CATEGORIES}/${NAME}-v3/depend.mk
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../math/eigen3/depend.mk
diff --git a/py-sot-core-v3/PLIST b/py-sot-core-v3/PLIST
index ea005330b7f341ecfef37337158043a2738e88d3..cf3f52b1bdd1ad3cfc1e6efca021862fd06a420e 100644
--- a/py-sot-core-v3/PLIST
+++ b/py-sot-core-v3/PLIST
@@ -1,4 +1,216 @@
-@comment Fri Jul 13 12:13:49 CEST 2018
+@comment Wed Jul 27 23:31:11 CEST 2022
+/share/doc/sot-core/doxygen-html/pictures/feature.png
+/share/doc/sot-core/doxygen-html/pictures/task.png
+include/sot/core/abstract-sot-external-interface.hh
+include/sot/core/additional-functions.hh
+include/sot/core/api.hh
+include/sot/core/binary-int-to-uint.hh
+include/sot/core/binary-op.hh
+include/sot/core/causal-filter.hh
+include/sot/core/clamp-workspace.hh
+include/sot/core/com-freezer.hh
+include/sot/core/config.hh
+include/sot/core/contiifstream.hh
+include/sot/core/debug.hh
+include/sot/core/deprecated.hh
+include/sot/core/derivator.hh
+include/sot/core/device.hh
+include/sot/core/double-constant.hh
+include/sot/core/event.hh
+include/sot/core/exception-abstract.hh
+include/sot/core/exception-dynamic.hh
+include/sot/core/exception-factory.hh
+include/sot/core/exception-feature.hh
+include/sot/core/exception-signal.hh
+include/sot/core/exception-task.hh
+include/sot/core/exception-tools.hh
+include/sot/core/exp-moving-avg.hh
+include/sot/core/factory.hh
+include/sot/core/feature-1d.hh
+include/sot/core/feature-abstract.hh
+include/sot/core/feature-generic.hh
+include/sot/core/feature-joint-limits.hh
+include/sot/core/feature-line-distance.hh
+include/sot/core/feature-point6d-relative.hh
+include/sot/core/feature-point6d.hh
+include/sot/core/feature-pose.hh
+include/sot/core/feature-posture.hh
+include/sot/core/feature-task.hh
+include/sot/core/feature-vector3.hh
+include/sot/core/feature-visual-point.hh
+include/sot/core/filter-differentiator.hh
+include/sot/core/fir-filter.hh
+include/sot/core/flags.hh
+include/sot/core/fwd.hh
+include/sot/core/gain-adaptive.hh
+include/sot/core/gain-hyperbolic.hh
+include/sot/core/gripper-control.hh
+include/sot/core/integrator-abstract.hh
+include/sot/core/integrator-euler.hh
+include/sot/core/joint-limitator.hh
+include/sot/core/kalman.hh
+include/sot/core/latch.hh
+include/sot/core/macros-signal.hh
+include/sot/core/macros.hh
+include/sot/core/mailbox-vector.hh
+include/sot/core/mailbox.hh
+include/sot/core/mailbox.hxx
+include/sot/core/matrix-constant.hh
+include/sot/core/matrix-geometry.hh
+include/sot/core/matrix-svd.hh
+include/sot/core/memory-task-sot.hh
+include/sot/core/motion-period.hh
+include/sot/core/multi-bound.hh
+include/sot/core/neck-limitation.hh
+include/sot/core/op-point-modifier.hh
+include/sot/core/parameter-server.hh
+include/sot/core/periodic-call-entity.hh
+include/sot/core/periodic-call.hh
+include/sot/core/pool.hh
+include/sot/core/reader.hh
+include/sot/core/robot-simu.hh
+include/sot/core/robot-utils.hh
+include/sot/core/sot-loader.hh
+include/sot/core/sot.hh
+include/sot/core/stop-watch.hh
+include/sot/core/switch.hh
+include/sot/core/task-abstract.hh
+include/sot/core/task-conti.hh
+include/sot/core/task-pd.hh
+include/sot/core/task-unilateral.hh
+include/sot/core/task.hh
+include/sot/core/time-stamp.hh
+include/sot/core/timer.hh
+include/sot/core/trajectory.hh
+include/sot/core/unary-op.hh
+include/sot/core/utils-windows.hh
+include/sot/core/variadic-op.hh
+include/sot/core/vector-constant.hh
+include/sot/core/vector-to-rotation.hh
+include/sot/core/visual-point-projecter.hh
+include/sot/core/warning.hh
+lib/cmake/sot-core/cxx-standard.cmake
+lib/cmake/sot-core/sot-coreConfig.cmake
+lib/cmake/sot-core/sot-coreConfigVersion.cmake
+lib/cmake/sot-core/sot-coreTargets-release.cmake
+lib/cmake/sot-core/sot-coreTargets.cmake
+lib/dynamic-graph-plugins/libadmittance-control-op-point.so
+lib/dynamic-graph-plugins/libadmittance-control-op-point.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libbinary-int-to-uint.so
+lib/dynamic-graph-plugins/libbinary-int-to-uint.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libclamp-workspace.so
+lib/dynamic-graph-plugins/libclamp-workspace.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libcom-freezer.so
+lib/dynamic-graph-plugins/libcom-freezer.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libcontrol-gr.so
+lib/dynamic-graph-plugins/libcontrol-gr.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libcontrol-pd.so
+lib/dynamic-graph-plugins/libcontrol-pd.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libderivator.so
+lib/dynamic-graph-plugins/libderivator.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libdouble-constant.so
+lib/dynamic-graph-plugins/libdouble-constant.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libevent.so
+lib/dynamic-graph-plugins/libevent.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libexp-moving-avg.so
+lib/dynamic-graph-plugins/libexp-moving-avg.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-1d.so
+lib/dynamic-graph-plugins/libfeature-1d.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-generic.so
+lib/dynamic-graph-plugins/libfeature-generic.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-joint-limits.so
+lib/dynamic-graph-plugins/libfeature-joint-limits.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-line-distance.so
+lib/dynamic-graph-plugins/libfeature-line-distance.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-point6d-relative.so
+lib/dynamic-graph-plugins/libfeature-point6d-relative.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-point6d.so
+lib/dynamic-graph-plugins/libfeature-point6d.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-pose.so
+lib/dynamic-graph-plugins/libfeature-pose.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-posture.so
+lib/dynamic-graph-plugins/libfeature-posture.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-task.so
+lib/dynamic-graph-plugins/libfeature-task.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-vector3.so
+lib/dynamic-graph-plugins/libfeature-vector3.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfeature-visual-point.so
+lib/dynamic-graph-plugins/libfeature-visual-point.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfilter-differentiator.so
+lib/dynamic-graph-plugins/libfilter-differentiator.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libfir-filter.so
+lib/dynamic-graph-plugins/libfir-filter.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libgain-adaptive.so
+lib/dynamic-graph-plugins/libgain-adaptive.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libgain-hyperbolic.so
+lib/dynamic-graph-plugins/libgain-hyperbolic.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libgradient-ascent.so
+lib/dynamic-graph-plugins/libgradient-ascent.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libgripper-control.so
+lib/dynamic-graph-plugins/libgripper-control.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libintegrator-abstract.so
+lib/dynamic-graph-plugins/libintegrator-abstract.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libintegrator-euler.so
+lib/dynamic-graph-plugins/libintegrator-euler.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libjoint-limitator.so
+lib/dynamic-graph-plugins/libjoint-limitator.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libjoint-trajectory-entity.so
+lib/dynamic-graph-plugins/libjoint-trajectory-entity.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libkalman.so
+lib/dynamic-graph-plugins/libkalman.so.${PKGVERSION}
+lib/dynamic-graph-plugins/liblatch.so
+lib/dynamic-graph-plugins/liblatch.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libmadgwickahrs.so
+lib/dynamic-graph-plugins/libmadgwickahrs.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libmailbox-vector.so
+lib/dynamic-graph-plugins/libmailbox-vector.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libmatrix-constant.so
+lib/dynamic-graph-plugins/libmatrix-constant.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libmotion-period.so
+lib/dynamic-graph-plugins/libmotion-period.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libneck-limitation.so
+lib/dynamic-graph-plugins/libneck-limitation.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libop-point-modifier.so
+lib/dynamic-graph-plugins/libop-point-modifier.so.${PKGVERSION}
+lib/dynamic-graph-plugins/liboperator.so
+lib/dynamic-graph-plugins/liboperator.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libparameter-server.so
+lib/dynamic-graph-plugins/libparameter-server.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libperiodic-call-entity.so
+lib/dynamic-graph-plugins/libperiodic-call-entity.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libreader.so
+lib/dynamic-graph-plugins/libreader.so.${PKGVERSION}
+lib/dynamic-graph-plugins/librobot-simu.so
+lib/dynamic-graph-plugins/librobot-simu.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libsequencer.so
+lib/dynamic-graph-plugins/libsequencer.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libsmooth-reach.so
+lib/dynamic-graph-plugins/libsmooth-reach.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libsot.so
+lib/dynamic-graph-plugins/libsot.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libswitch.so
+lib/dynamic-graph-plugins/libswitch.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libtask-conti.so
+lib/dynamic-graph-plugins/libtask-conti.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libtask-pd.so
+lib/dynamic-graph-plugins/libtask-pd.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libtask-unilateral.so
+lib/dynamic-graph-plugins/libtask-unilateral.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libtask.so
+lib/dynamic-graph-plugins/libtask.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libtime-stamp.so
+lib/dynamic-graph-plugins/libtime-stamp.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libtimer.so
+lib/dynamic-graph-plugins/libtimer.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libvector-constant.so
+lib/dynamic-graph-plugins/libvector-constant.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libvector-to-rotation.so
+lib/dynamic-graph-plugins/libvector-to-rotation.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libvisual-point-projecter.so
+lib/dynamic-graph-plugins/libvisual-point-projecter.so.${PKGVERSION}
+lib/libsot-core.so
+lib/libsot-core.so.${PKGVERSION}
+lib/pkgconfig/sot-core.pc
${PYTHON_SITELIB}/dynamic_graph/sot/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/core/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/core/admittance_control_op_point/__init__.py
@@ -133,3 +345,4 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/core/vector_to_rotation/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/core/visual_point_projecter/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/core/visual_point_projecter/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/core/wrap.so
+share/sot-core/package.xml
diff --git a/py-sot-core-v3/depend.mk b/py-sot-core-v3/depend.mk
index aff90c403c018fae7a03e6992f3cda2f5a5079e4..6e052fe4abd7ada2c7d7c0f6eb55623a15bdd494 100644
--- a/py-sot-core-v3/depend.mk
+++ b/py-sot-core-v3/depend.mk
@@ -2,21 +2,26 @@
# Created: Rohan Budhiraja on Thu, 17 Dec 2015
#
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
PY_SOT_CORE_V3_DEPEND_MK:= ${PY_SOT_CORE_V3_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= py-sot-core-v3
+DEPEND_PKG+= py-sot-core-v3
endif
ifeq (+,$(PY_SOT_CORE_V3_DEPEND_MK)) # -------------------------------------------
-PREFER.py-sot-core-v3?= robotpkg
+PREFER.py-sot-core-v3?= robotpkg
SYSTEM_SEARCH.py-sot-core-v3=\
+ 'include/sot/core/config.hh:/SOT_CORE_VERSION /s/[^0-9.]//gp' \
+ 'lib/cmake/sot-core/sot-coreConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
+ 'lib/libsot-core.so' \
+ 'lib/pkgconfig/sot-core.pc:/Version/s/[^0-9.]//gp' \
+ 'share/sot-core/package.xml:/<version>/s/[^0-9.]//gp' \
'${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/core/wrap.so'
-DEPEND_USE+= py-sot-core-v3
+DEPEND_USE+= py-sot-core-v3
DEPEND_ABI.py-sot-core-v3?= ${PKGTAG.python-}sot-core-v3>=4.1.0<5.0.0
DEPEND_DIR.py-sot-core-v3?= ../../wip/py-sot-core-v3
diff --git a/py-sot-core-v3/distinfo b/py-sot-core-v3/distinfo
index 17a15a7ac5df83ee7829b3b1f1837bb111cd6f3b..7243f04877ce14aedf4a8cdc4e2ec43f92b088f2 100644
--- a/py-sot-core-v3/distinfo
+++ b/py-sot-core-v3/distinfo
@@ -1,5 +1,3 @@
-SHA1 (sot-core-4.11.6.tar.gz) = ad9e94f34101147e60b3c2e954416ca96b71363a
-RMD160 (sot-core-4.11.6.tar.gz) = e9527c3229290f42860cb0a32494563044e8725e
-Size (sot-core-4.11.6.tar.gz) = 1129543 bytes
-SHA1 (patch-183) = d0555cd73014f35539f0c13aed0a8ab99b92714d
-SHA1 (patch-487) = ef6ebc3b9fd77ad5ae150ecb870dcb59053dacdd
+SHA1 (sot-core-4.11.7.tar.gz) = a2377589537cb8d29e2840f8d8ce68992a03c0c3
+RMD160 (sot-core-4.11.7.tar.gz) = 2fe9b1339fa33f65bd577e1bfea6ec66e86c38f4
+Size (sot-core-4.11.7.tar.gz) = 1124149 bytes
diff --git a/py-sot-core-v3/patches/patch-183 b/py-sot-core-v3/patches/patch-183
deleted file mode 100644
index d97e7e1ae77d4d18b65779f14481b290f2662656..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-183
+++ /dev/null
@@ -1,70 +0,0 @@
-From d30dc93c8f197ceeb80438e547d3be268f2c0e90 Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Thu, 3 Jun 2021 16:13:44 +0200
-Subject: [PATCH] [tests] rename data do disambiguate for C++17
-
----
- cmake | 2 +-
- tests/signal/test_signal.cpp | 22 +++++++++++-----------
- 2 files changed, 12 insertions(+), 12 deletions(-)
-
-diff --git a/tests/signal/test_signal.cpp b/tests/signal/test_signal.cpp
-index 5ef7c856..6a15ef2f 100644
---- tests/signal/test_signal.cpp
-+++ tests/signal/test_signal.cpp
-@@ -26,31 +26,31 @@ class DummyClass {
- }
- };
-
--dynamicgraph::Vector data(6);
-+dynamicgraph::Vector test_data(6);
- Signal<dynamicgraph::Vector, double> sig("sigtest");
- DummyClass dummy;
-
- dynamicgraph::Vector &fun(dynamicgraph::Vector &res, double /*j*/) {
-- return res = data;
-+ return res = test_data;
- }
-
- int main(void) {
-- data.fill(1);
-- cout << "data: " << data << endl;
-+ test_data.fill(1);
-+ cout << "test_data: " << test_data << endl;
-
-- sig.setConstant(data);
-+ sig.setConstant(test_data);
- cout << "Constant: " << sig.access(1.) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Constant: " << sig(1.) << endl;
-
-- sig.setReference(&data);
-+ sig.setReference(&test_data);
- cout << "Reference: " << sig(1.) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Reference: " << sig(1.) << endl;
-
- sig.setFunction(&fun);
- cout << "Function: " << sig(1.) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Function: " << sig(1.) << endl;
-
- // boost::function2<int,int,double> onClick = (&DummyClass::fun, &dummy,
-@@ -58,12 +58,12 @@ int main(void) {
- // &dummy);
- sig.setFunction(boost::bind(&DummyClass::fun, &dummy, _1, _2));
- cout << "Function: " << sig(1.5) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Function: " << sig(1.34) << endl;
-
- // sig.setFunction(&DummyClass::fun, dummy);
- // cout << "Function: " << sig(1.5) <<endl;
-- // data*=2;
-+ // test_data*=2;
- // cout << "Function: " << sig(12.34) <<endl;
-
- return 0;
diff --git a/py-sot-core-v3/patches/patch-487 b/py-sot-core-v3/patches/patch-487
deleted file mode 100644
index b196a9ac5711811d56cb65780e4ae501765b6b38..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-487
+++ /dev/null
@@ -1,39 +0,0 @@
-From b56317919889c9bbde122acb7ae31b12a88fa10f Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Mon, 2 Aug 2021 17:13:01 +0200
-Subject: [PATCH] dynamic-graph: configure RPATH also for installed modules
-
----
- python.cmake | 6 ++++--
- 1 file changed, 4 insertions(+), 2 deletions(-)
-
-diff --git a/python.cmake b/python.cmake
-index ebf3aa0..07b02b9 100644
---- cmake/python.cmake
-+++ cmake/python.cmake
-@@ -318,10 +318,13 @@ MACRO(DYNAMIC_GRAPH_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
-
- FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME})
-
-+ SET(PYTHON_INSTALL_DIR "${PYTHON_SITELIB}/dynamic_graph/${SUBMODULENAME}")
-+ STRING(REGEX REPLACE "[^/]+" ".." PYTHON_INSTALL_DIR_REVERSE ${PYTHON_INSTALL_DIR})
-+
- SET_TARGET_PROPERTIES(${PYTHON_MODULE}
- PROPERTIES PREFIX ""
- OUTPUT_NAME dynamic_graph/${SUBMODULENAME}/wrap
-- BUILD_RPATH ${DYNAMIC_GRAPH_PLUGINDIR}
-+ BUILD_RPATH "${DYNAMIC_GRAPH_PLUGINDIR}:\$ORIGIN/${PYTHON_INSTALL_DIR_REVERSE}/${DYNAMIC_GRAPH_PLUGINDIR}"
- )
-
- IF (UNIX AND NOT APPLE)
-@@ -340,7 +343,6 @@ MACRO(DYNAMIC_GRAPH_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
- #
- # Installation
- #
-- SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/dynamic_graph/${SUBMODULENAME})
-
- INSTALL(TARGETS ${PYTHON_MODULE}
- DESTINATION
---
-2.32.0
-
diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index 0aa53f29615af5de15795014315ea364c027aec5..6bf0d8b665a26ca718837ea9c36f11b55b1c64ce 100644
--- a/py-sot-dynamic-pinocchio-v3/Makefile
+++ b/py-sot-dynamic-pinocchio-v3/Makefile
@@ -25,7 +25,6 @@ include ../../math/py-eigenpy/depend.mk
include ../../math/py-pinocchio/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/sot-tools-v3/depend.mk
include ../../wip/py-sot-tools-v3/depend.mk
diff --git a/py-sot-dyninv-v3/Makefile b/py-sot-dyninv-v3/Makefile
index 39997b3e56396e852f9d1aa63288ac02580c2818..63b9230e7612a977e6082f0bb36bb3ca17836eb8 100644
--- a/py-sot-dyninv-v3/Makefile
+++ b/py-sot-dyninv-v3/Makefile
@@ -22,7 +22,6 @@ include ../../${CATEGORIES}/${NAME}-v3/depend.mk
include ../../wip/soth/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
diff --git a/py-sot-pattern-generator-v3/Makefile b/py-sot-pattern-generator-v3/Makefile
index 86b14ee374b1a51545dfd46705059ed8e54182d9..e270e563cff70ef87446d783f58d135542c8fc3d 100644
--- a/py-sot-pattern-generator-v3/Makefile
+++ b/py-sot-pattern-generator-v3/Makefile
@@ -22,7 +22,6 @@ include ../../devel/boost-libs/depend.mk
include ../../math/pinocchio/depend.mk
include ../../wip/jrl-walkgen-v3/depend.mk
include ../../math/eigen-quadprog/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index af8a4a26d917237f34552e8ccd0f05c2dfd3af5d..1ba754e97ca45636a25e9ad806e74ca07c58cb60 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -25,7 +25,6 @@ include ../../path/hpp-fcl/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
include ../../optimization/py-tsid/depend.mk
diff --git a/py-sot-talos/Makefile b/py-sot-talos/Makefile
index e36b5aa5b05d724a14aa6fcc34dccccdcf787c29..3ce5affda2251f9dc64edce5d5e41704bdec10ce 100644
--- a/py-sot-talos/Makefile
+++ b/py-sot-talos/Makefile
@@ -20,7 +20,6 @@ include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/py-sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/py-sot-tools-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
diff --git a/py-sot-tiago/Makefile b/py-sot-tiago/Makefile
index a0ca4d40b9239263fe818cd86ba38940d594becc..4ea802af9218dde2f515993e86a8b9f1ff36fa15 100644
--- a/py-sot-tiago/Makefile
+++ b/py-sot-tiago/Makefile
@@ -20,7 +20,6 @@ include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/py-sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/py-sot-tools-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
diff --git a/py-sot-tools-v3/Makefile b/py-sot-tools-v3/Makefile
index 82df3e0d3fce237ee07e966d0c923b284f411f8f..e330f137603621fd35b8c6b5d6e89fa71cbe8938 100644
--- a/py-sot-tools-v3/Makefile
+++ b/py-sot-tools-v3/Makefile
@@ -17,7 +17,6 @@ USE_PYTHON_ONLY= true
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../${CATEGORIES}/${NAME}-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index cf7ad81aa45a8952cee867b47b9e8c4ec7a741c5..d866a188d1644f84081bbeaddd524a6c4aca79ef 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -28,7 +28,6 @@ include ../../robots/example-robot-data/depend.mk
include ../../robots/py-example-robot-data/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
include ../../optimization/py-tsid/depend.mk
diff --git a/py-talos-torque-control/Makefile b/py-talos-torque-control/Makefile
index 6eff218f87067e4fdb059cbf8232ec582e9458dc..04cd9700fbfcf0823de8a33cc5c4e65c33cd4e55 100644
--- a/py-talos-torque-control/Makefile
+++ b/py-talos-torque-control/Makefile
@@ -29,7 +29,6 @@ include ../../path/py-hpp-fcl/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
include ../../optimization/py-tsid/depend.mk
diff --git a/sot-core-v3/DESCR b/sot-core-v3/DESCR
deleted file mode 100644
index b021b9de60cf54ae6cbc894ca0993703f8a77d34..0000000000000000000000000000000000000000
--- a/sot-core-v3/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Hierarchical task based control of humanoid robots
diff --git a/sot-core-v3/Makefile b/sot-core-v3/Makefile
deleted file mode 100644
index fd17555a9e639e2b9c6f46dc9d846d4e80c8471b..0000000000000000000000000000000000000000
--- a/sot-core-v3/Makefile
+++ /dev/null
@@ -1,34 +0,0 @@
-# robotpkg Makefile for: wip/sot-core-v3
-# Created: Rohan Budhiraja on Wed Dec 16 15:33:40 CET 2015
-#
-
-PKGREVISION= 1
-ORG= stack-of-tasks
-NAME= sot-core
-VERSION= 4.11.6
-
-PKGNAME= ${NAME}-v3-${VERSION}
-
-CATEGORIES= wip
-COMMENT= Hierarchical task based control of humanoid robots
-
-CONFLICTS+= ${NAME}
-
-CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-
-include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../math/eigen3/depend.mk
-include ../../math/pinocchio/depend.mk
-include ../../path/hpp-fcl/depend.mk
-include ../../robots/example-robot-data/depend.mk
-include ../../mapping/octomap/depend.mk
-include ../../wip/dynamic-graph-v3/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/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/sot-core-v3/PLIST b/sot-core-v3/PLIST
deleted file mode 100644
index 81a543ccec3e3764bca281de78d1fe3847b26565..0000000000000000000000000000000000000000
--- a/sot-core-v3/PLIST
+++ /dev/null
@@ -1,208 +0,0 @@
-@comment Thu Oct 31 22:20:35 CST 2019
-include/sot/core/abstract-sot-external-interface.hh
-include/sot/core/additional-functions.hh
-include/sot/core/api.hh
-include/sot/core/binary-int-to-uint.hh
-include/sot/core/binary-op.hh
-include/sot/core/causal-filter.hh
-include/sot/core/clamp-workspace.hh
-include/sot/core/com-freezer.hh
-include/sot/core/config.hh
-include/sot/core/contiifstream.hh
-include/sot/core/debug.hh
-include/sot/core/deprecated.hh
-include/sot/core/derivator.hh
-include/sot/core/device.hh
-include/sot/core/double-constant.hh
-include/sot/core/event.hh
-include/sot/core/exception-abstract.hh
-include/sot/core/exception-dynamic.hh
-include/sot/core/exception-factory.hh
-include/sot/core/exception-feature.hh
-include/sot/core/exception-signal.hh
-include/sot/core/exception-task.hh
-include/sot/core/exception-tools.hh
-include/sot/core/exp-moving-avg.hh
-include/sot/core/factory.hh
-include/sot/core/feature-1d.hh
-include/sot/core/feature-abstract.hh
-include/sot/core/feature-generic.hh
-include/sot/core/feature-joint-limits.hh
-include/sot/core/feature-line-distance.hh
-include/sot/core/feature-point6d-relative.hh
-include/sot/core/feature-point6d.hh
-include/sot/core/feature-pose.hh
-include/sot/core/feature-posture.hh
-include/sot/core/feature-task.hh
-include/sot/core/feature-vector3.hh
-include/sot/core/feature-visual-point.hh
-include/sot/core/filter-differentiator.hh
-include/sot/core/fir-filter.hh
-include/sot/core/flags.hh
-include/sot/core/gain-adaptive.hh
-include/sot/core/gain-hyperbolic.hh
-include/sot/core/gripper-control.hh
-include/sot/core/integrator-abstract.hh
-include/sot/core/integrator-euler.hh
-include/sot/core/joint-limitator.hh
-include/sot/core/kalman.hh
-include/sot/core/latch.hh
-include/sot/core/macros-signal.hh
-include/sot/core/mailbox-vector.hh
-include/sot/core/mailbox.hh
-include/sot/core/mailbox.hxx
-include/sot/core/matrix-constant.hh
-include/sot/core/matrix-geometry.hh
-include/sot/core/matrix-svd.hh
-include/sot/core/memory-task-sot.hh
-include/sot/core/motion-period.hh
-include/sot/core/multi-bound.hh
-include/sot/core/neck-limitation.hh
-include/sot/core/op-point-modifier.hh
-include/sot/core/parameter-server.hh
-include/sot/core/periodic-call-entity.hh
-include/sot/core/periodic-call.hh
-include/sot/core/pool.hh
-include/sot/core/reader.hh
-include/sot/core/robot-simu.hh
-include/sot/core/robot-utils.hh
-include/sot/core/sot.hh
-include/sot/core/stop-watch.hh
-include/sot/core/switch.hh
-include/sot/core/task-abstract.hh
-include/sot/core/task-conti.hh
-include/sot/core/task-pd.hh
-include/sot/core/task-unilateral.hh
-include/sot/core/task.hh
-include/sot/core/time-stamp.hh
-include/sot/core/timer.hh
-include/sot/core/trajectory.hh
-include/sot/core/unary-op.hh
-include/sot/core/utils-windows.hh
-include/sot/core/variadic-op.hh
-include/sot/core/vector-constant.hh
-include/sot/core/vector-to-rotation.hh
-include/sot/core/visual-point-projecter.hh
-include/sot/core/warning.hh
-lib/cmake/sot-core/sot-coreConfig.cmake
-lib/cmake/sot-core/sot-coreConfigVersion.cmake
-lib/cmake/sot-core/sot-coreTargets-release.cmake
-lib/cmake/sot-core/sot-coreTargets.cmake
-lib/dynamic-graph-plugins/libadmittance-control-op-point.so
-lib/dynamic-graph-plugins/libadmittance-control-op-point.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libbinary-int-to-uint.so
-lib/dynamic-graph-plugins/libbinary-int-to-uint.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libclamp-workspace.so
-lib/dynamic-graph-plugins/libclamp-workspace.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libcom-freezer.so
-lib/dynamic-graph-plugins/libcom-freezer.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libcontrol-gr.so
-lib/dynamic-graph-plugins/libcontrol-gr.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libcontrol-pd.so
-lib/dynamic-graph-plugins/libcontrol-pd.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libderivator.so
-lib/dynamic-graph-plugins/libderivator.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libdouble-constant.so
-lib/dynamic-graph-plugins/libdouble-constant.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libevent.so
-lib/dynamic-graph-plugins/libevent.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libexp-moving-avg.so
-lib/dynamic-graph-plugins/libexp-moving-avg.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-1d.so
-lib/dynamic-graph-plugins/libfeature-1d.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-generic.so
-lib/dynamic-graph-plugins/libfeature-generic.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-joint-limits.so
-lib/dynamic-graph-plugins/libfeature-joint-limits.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-line-distance.so
-lib/dynamic-graph-plugins/libfeature-line-distance.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-point6d-relative.so
-lib/dynamic-graph-plugins/libfeature-point6d-relative.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-point6d.so
-lib/dynamic-graph-plugins/libfeature-point6d.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-pose.so
-lib/dynamic-graph-plugins/libfeature-pose.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-posture.so
-lib/dynamic-graph-plugins/libfeature-posture.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-task.so
-lib/dynamic-graph-plugins/libfeature-task.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-vector3.so
-lib/dynamic-graph-plugins/libfeature-vector3.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfeature-visual-point.so
-lib/dynamic-graph-plugins/libfeature-visual-point.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfilter-differentiator.so
-lib/dynamic-graph-plugins/libfilter-differentiator.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libfir-filter.so
-lib/dynamic-graph-plugins/libfir-filter.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libgain-adaptive.so
-lib/dynamic-graph-plugins/libgain-adaptive.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libgain-hyperbolic.so
-lib/dynamic-graph-plugins/libgain-hyperbolic.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libgradient-ascent.so
-lib/dynamic-graph-plugins/libgradient-ascent.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libgripper-control.so
-lib/dynamic-graph-plugins/libgripper-control.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libintegrator-abstract.so
-lib/dynamic-graph-plugins/libintegrator-abstract.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libintegrator-euler.so
-lib/dynamic-graph-plugins/libintegrator-euler.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libjoint-limitator.so
-lib/dynamic-graph-plugins/libjoint-limitator.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libjoint-trajectory-entity.so
-lib/dynamic-graph-plugins/libjoint-trajectory-entity.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libkalman.so
-lib/dynamic-graph-plugins/libkalman.so.${PKGVERSION}
-lib/dynamic-graph-plugins/liblatch.so
-lib/dynamic-graph-plugins/liblatch.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libmadgwickahrs.so
-lib/dynamic-graph-plugins/libmadgwickahrs.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libmailbox-vector.so
-lib/dynamic-graph-plugins/libmailbox-vector.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libmatrix-constant.so
-lib/dynamic-graph-plugins/libmatrix-constant.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libmotion-period.so
-lib/dynamic-graph-plugins/libmotion-period.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libneck-limitation.so
-lib/dynamic-graph-plugins/libneck-limitation.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libop-point-modifier.so
-lib/dynamic-graph-plugins/libop-point-modifier.so.${PKGVERSION}
-lib/dynamic-graph-plugins/liboperator.so
-lib/dynamic-graph-plugins/liboperator.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libparameter-server.so
-lib/dynamic-graph-plugins/libparameter-server.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libperiodic-call-entity.so
-lib/dynamic-graph-plugins/libperiodic-call-entity.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libreader.so
-lib/dynamic-graph-plugins/libreader.so.${PKGVERSION}
-lib/dynamic-graph-plugins/librobot-simu.so
-lib/dynamic-graph-plugins/librobot-simu.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libsequencer.so
-lib/dynamic-graph-plugins/libsequencer.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libsmooth-reach.so
-lib/dynamic-graph-plugins/libsmooth-reach.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libsot.so
-lib/dynamic-graph-plugins/libsot.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libswitch.so
-lib/dynamic-graph-plugins/libswitch.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libtask-conti.so
-lib/dynamic-graph-plugins/libtask-conti.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libtask-pd.so
-lib/dynamic-graph-plugins/libtask-pd.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libtask-unilateral.so
-lib/dynamic-graph-plugins/libtask-unilateral.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libtask.so
-lib/dynamic-graph-plugins/libtask.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libtime-stamp.so
-lib/dynamic-graph-plugins/libtime-stamp.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libtimer.so
-lib/dynamic-graph-plugins/libtimer.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libvector-constant.so
-lib/dynamic-graph-plugins/libvector-constant.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libvector-to-rotation.so
-lib/dynamic-graph-plugins/libvector-to-rotation.so.${PKGVERSION}
-lib/dynamic-graph-plugins/libvisual-point-projecter.so
-lib/dynamic-graph-plugins/libvisual-point-projecter.so.${PKGVERSION}
-lib/libsot-core.so
-lib/libsot-core.so.${PKGVERSION}
-lib/pkgconfig/sot-core.pc
-share/sot-core/package.xml
diff --git a/sot-core-v3/depend.mk b/sot-core-v3/depend.mk
deleted file mode 100644
index 594aaf032b147ab48b1b925602591fec35c34fd0..0000000000000000000000000000000000000000
--- a/sot-core-v3/depend.mk
+++ /dev/null
@@ -1,32 +0,0 @@
-# robotpkg depend.mk for: wip/sot-core-v3
-# Created: Rohan Budhiraja on Thu, 17 Dec 2015
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-SOT_CORE_V3_DEPEND_MK:= ${SOT_CORE_V3_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= sot-core-v3
-endif
-
-ifeq (+,$(SOT_CORE_V3_DEPEND_MK)) # -------------------------------------------
-
-PREFER.sot-core-v3?= robotpkg
-
-DEPEND_USE+= sot-core-v3
-
-DEPEND_ABI.sot-core-v3?= sot-core-v3>=4.1.0<5.0.0
-DEPEND_DIR.sot-core-v3?= ../../wip/sot-core-v3
-
-SYSTEM_SEARCH.sot-core-v3= \
- 'include/sot/core/config.hh:/SOT_CORE_VERSION /s/[^0-9.]//gp' \
- 'lib/cmake/sot-core/sot-coreConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
- 'lib/libsot-core.so' \
- 'lib/pkgconfig/sot-core.pc:/Version/s/[^0-9.]//gp' \
- 'share/sot-core/package.xml:/<version>/s/[^0-9.]//gp'
-
-
-
-endif # SOT_CORE_DEPEND_MK -------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/sot-core-v3/distinfo b/sot-core-v3/distinfo
deleted file mode 100644
index 42dd48b88863c376ba08d3faa568003e4668a8a3..0000000000000000000000000000000000000000
--- a/sot-core-v3/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (sot-core-4.11.6.tar.gz) = ad9e94f34101147e60b3c2e954416ca96b71363a
-RMD160 (sot-core-4.11.6.tar.gz) = e9527c3229290f42860cb0a32494563044e8725e
-Size (sot-core-4.11.6.tar.gz) = 1129543 bytes
-SHA1 (patch-183) = d0555cd73014f35539f0c13aed0a8ab99b92714d
diff --git a/sot-core-v3/patches/patch-183 b/sot-core-v3/patches/patch-183
deleted file mode 100644
index d97e7e1ae77d4d18b65779f14481b290f2662656..0000000000000000000000000000000000000000
--- a/sot-core-v3/patches/patch-183
+++ /dev/null
@@ -1,70 +0,0 @@
-From d30dc93c8f197ceeb80438e547d3be268f2c0e90 Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Thu, 3 Jun 2021 16:13:44 +0200
-Subject: [PATCH] [tests] rename data do disambiguate for C++17
-
----
- cmake | 2 +-
- tests/signal/test_signal.cpp | 22 +++++++++++-----------
- 2 files changed, 12 insertions(+), 12 deletions(-)
-
-diff --git a/tests/signal/test_signal.cpp b/tests/signal/test_signal.cpp
-index 5ef7c856..6a15ef2f 100644
---- tests/signal/test_signal.cpp
-+++ tests/signal/test_signal.cpp
-@@ -26,31 +26,31 @@ class DummyClass {
- }
- };
-
--dynamicgraph::Vector data(6);
-+dynamicgraph::Vector test_data(6);
- Signal<dynamicgraph::Vector, double> sig("sigtest");
- DummyClass dummy;
-
- dynamicgraph::Vector &fun(dynamicgraph::Vector &res, double /*j*/) {
-- return res = data;
-+ return res = test_data;
- }
-
- int main(void) {
-- data.fill(1);
-- cout << "data: " << data << endl;
-+ test_data.fill(1);
-+ cout << "test_data: " << test_data << endl;
-
-- sig.setConstant(data);
-+ sig.setConstant(test_data);
- cout << "Constant: " << sig.access(1.) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Constant: " << sig(1.) << endl;
-
-- sig.setReference(&data);
-+ sig.setReference(&test_data);
- cout << "Reference: " << sig(1.) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Reference: " << sig(1.) << endl;
-
- sig.setFunction(&fun);
- cout << "Function: " << sig(1.) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Function: " << sig(1.) << endl;
-
- // boost::function2<int,int,double> onClick = (&DummyClass::fun, &dummy,
-@@ -58,12 +58,12 @@ int main(void) {
- // &dummy);
- sig.setFunction(boost::bind(&DummyClass::fun, &dummy, _1, _2));
- cout << "Function: " << sig(1.5) << endl;
-- data *= 2;
-+ test_data *= 2;
- cout << "Function: " << sig(1.34) << endl;
-
- // sig.setFunction(&DummyClass::fun, dummy);
- // cout << "Function: " << sig(1.5) <<endl;
-- // data*=2;
-+ // test_data*=2;
- // cout << "Function: " << sig(12.34) <<endl;
-
- return 0;
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 6ac68628b5c6b1d2207506586582c61a0a12742d..7843614928c7df3a9280f9f04be3a7a4fad611b4 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -24,7 +24,7 @@ include ../../math/pinocchio/depend.mk
include ../../path/hpp-fcl/depend.mk
include ../../mapping/octomap/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/sot-tools-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
diff --git a/sot-dyninv-v3/Makefile b/sot-dyninv-v3/Makefile
index a9c1232a291d78e35ca5338e3398144c0489c7fa..debea281f9244ee7a53e120f19ab2b3e2b50f2a1 100644
--- a/sot-dyninv-v3/Makefile
+++ b/sot-dyninv-v3/Makefile
@@ -19,7 +19,7 @@ CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../wip/soth/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/sot-hrp2-v3/Makefile b/sot-hrp2-v3/Makefile
index f079bcf79d3d2b9551d20deaa26a80abcf96c659..49c25f3be4a55bfbe3ce26dd9cb2d2778578b1ff 100644
--- a/sot-hrp2-v3/Makefile
+++ b/sot-hrp2-v3/Makefile
@@ -19,7 +19,7 @@ include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
include ../../wip/py-sot-tools-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
diff --git a/sot-pattern-generator-v3/Makefile b/sot-pattern-generator-v3/Makefile
index 6fa94c7c731b7c35c085bc23e7d4c169ba7eb79d..b787e1f18af5cf6a8be61bd4fc083bd363b8d11b 100644
--- a/sot-pattern-generator-v3/Makefile
+++ b/sot-pattern-generator-v3/Makefile
@@ -22,7 +22,7 @@ include ../../math/pinocchio/depend.mk
include ../../wip/jrl-walkgen-v3/depend.mk
include ../../math/eigen-quadprog/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 3bc5aa5c4e7ef1f47d5789cb2d334814e8f6349a..7df4bd9422257704232a145fb0dc4ca110c4ee0e 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -22,7 +22,7 @@ include ../../math/eigen3/depend.mk
include ../../math/pinocchio/depend.mk
include ../../path/hpp-fcl/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
include ../../wip/parametric-curves/depend.mk
include ../../wip/ddp-actuator-solver/depend.mk
diff --git a/sot-tools-v3/Makefile b/sot-tools-v3/Makefile
index 3c69e348fedce116b3bed8baaf0cb82bd7c249b5..fe54b7435329fccb8ac324c08dc02fa12d894a9c 100644
--- a/sot-tools-v3/Makefile
+++ b/sot-tools-v3/Makefile
@@ -17,7 +17,7 @@ CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF # doxygen segfaults on 14.04
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../math/eigen3/depend.mk
diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index 7edd8fdcdf1641413224ea94bc4240bc287a369d..accf9e03de4c64014b343ad3a6fecc4a5d889f12 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -23,7 +23,7 @@ include ../../optimization/qpoases/depend.mk
include ../../path/hpp-fcl/depend.mk
include ../../robots/example-robot-data/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
-include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
include ../../wip/parametric-curves/depend.mk
include ../../wip/ddp-actuator-solver/depend.mk
diff --git a/talos-torque-control/Makefile b/talos-torque-control/Makefile
index 8b9f4b77fc57937a4d00234819025de41c23682c..58560d0be37f83d6dcee28521f2e4743badd215d 100644
--- a/talos-torque-control/Makefile
+++ b/talos-torque-control/Makefile
@@ -23,7 +23,7 @@ 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
+include ../../wip/py-sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
include ../../wip/parametric-curves/depend.mk
include ../../wip/ddp-actuator-solver/depend.mk