diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index 8740a5f835f1ba84fbd16a819b8162fdd24d15f8..3a44e29074525c5a2b268a86a709af1aebf54dc8 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -7,22 +7,15 @@ NAME= sot-torque-control
VERSION= 1.4.0
PKGREVISION= 1
-DISTNAME= ${NAME}-${VERSION}
-PKGNAME= ${PKGTAG.python-}${DISTNAME}
-
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}
-CHECKOUT_VCS_OPTS= --recursive
-
CATEGORIES= wip
COMMENT= Torque control for humanoids (python bindings)
LICENSE= 2-clause-bsd
MAINTAINER= gepetto-soft@laas.fr
-CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF
+USE_PYTHON_ONLY= true
include ../../${CATEGORIES}/${NAME}/depend.mk
-
+include ../../wip/jrl-cmakemodules/Makefile.common
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../graphics/simple-humanoid-description/depend.mk
diff --git a/py-sot-torque-control/PLIST b/py-sot-torque-control/PLIST
index 18be83b8fed86349dea613b95a81db9b1e2bc516..f9588a39a5f0dbfd6bdb4c5f222d7bc27045e39e 100644
--- a/py-sot-torque-control/PLIST
+++ b/py-sot-torque-control/PLIST
@@ -1,5 +1,7 @@
@comment Fri Jul 27 14:47:41 CEST 2018
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/admittance_controller/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/admittance_controller/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/__init__.py
@@ -7,6 +9,8 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/wrap${PYTHON_
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/create_entities_utils.py
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/current_controller/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/current_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/ddp_actuator_solver/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/ddp_actuator_solver/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/wrap${PYTHON_EXT_SUFFIX}
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/__init__.py
diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index bd05c1a97b3dd26e67dbfd178d4858905abf1e3e..d1f6d26d03046e02f57ab8599511ec743bb8e0f4 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -7,12 +7,6 @@ NAME= sot-torque-control
VERSION= 1.4.0
PKGREVISION= 1
-DISTNAME= ${NAME}-${VERSION}
-
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
-CHECKOUT_VCS_OPTS= --recursive
-
CATEGORIES= wip
COMMENT= Torque control for humanoids
LICENSE= 2-clause-bsd
@@ -20,8 +14,7 @@ MAINTAINER= gepetto-soft@laas.fr
CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
-
+include ../../wip/jrl-cmakemodules/Makefile.common
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../graphics/simple-humanoid-description/depend.mk