diff --git a/Makefile b/Makefile
index b15dd4bcbac0aa156da89dd50b1f97dbc46a7fd0..89532e9de5ea5677e214391fbfef4470de03bbc9 100644
--- a/Makefile
+++ b/Makefile
@@ -81,13 +81,13 @@ SUBDIR+= py-jsbsim
SUBDIR+= py-laaswm
SUBDIR+= py-mavlink
SUBDIR+= py-morse
+SUBDIR+= py-sot-application
SUBDIR+= py-sot-tools-v3
SUBDIR+= qpOASES
SUBDIR+= roralink
SUBDIR+= robotModelParser-libs
SUBDIR+= rqt-dynamic-graph
SUBDIR+= simple-humanoid-description
-SUBDIR+= sot-application
SUBDIR+= sot-application-v3
SUBDIR+= sot-core-v3
SUBDIR+= sot-dynamic-pinocchio-v3
diff --git a/sot-application/DESCR b/py-sot-application/DESCR
similarity index 91%
rename from sot-application/DESCR
rename to py-sot-application/DESCR
index 71303d79949d41cd3d1f0dc7c25869ce64b1cbbf..33b98ffd7ce8eddcf8ff76ce0fa75236f100810c 100644
--- a/sot-application/DESCR
+++ b/py-sot-application/DESCR
@@ -1,6 +1,7 @@
This package provides python initializations scripts for the Stack of Tasks.
-These scripts are aimed at initializing control graphs dependending on the application:
+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/py-sot-application/Makefile b/py-sot-application/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b170d41784bb8a9dc8d7332ac0662d50b193f22e
--- /dev/null
+++ b/py-sot-application/Makefile
@@ -0,0 +1,39 @@
+# robotpkg Makefile for: scripts/py-sot-application
+# Created: Aurélie Clodic on Wed, 11 Jun 2014
+#
+
+PKGREVISION= 2
+VERSION= 1.0.0
+PKGNAME= ${PKGTAG.python-}sot-application-${VERSION}
+DISTNAME= sot-application-${VERSION}
+GH_REPO= stack-of-tasks/sot-application
+MASTER_SITES=\
+ ${MASTER_SITE_GITHUB:=${GH_REPO}/releases/download/${VERSION}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${GH_REPO}
+
+CATEGORIES= scripts
+COMMENT= Application dependent scripts for the Stack of Tasks
+HOMEPAGE= https://github.com/stack-of-tasks/sot-application
+LICENSE= gnu-lgpl-v3
+MAINTAINER= hpp@laas.fr
+
+# this does not support multiple parallel python version
+CONFLICTS+= py[0-9][0-9]-${PKGBASE}-[0-9]*
+# old package name
+CONFLICTS+= sot-application-[0-9]*
+
+DYNAMIC_PLIST_DIRS+= share/doc/sot-application
+
+CMAKE_ARGS+= -DSPHINX_BUILD=${SPHINX_BUILD}
+
+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/sysdep/py-sphinx.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/sot-application/PLIST b/py-sot-application/PLIST
similarity index 100%
rename from sot-application/PLIST
rename to py-sot-application/PLIST
diff --git a/py-sot-application/depend.mk b/py-sot-application/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..cbf60f4ecff47d6982b5142613819a3cf6b98f3f
--- /dev/null
+++ b/py-sot-application/depend.mk
@@ -0,0 +1,30 @@
+# robotpkg depend.mk for: scripts/py-sot-application
+# Created: Aurélie Clodic on Wed, 10 Jun 2014
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_SOT_APPLICATION_DEPEND_MK:= ${PY_SOT_APPLICATION_DEPEND_MK}+
+
+ifeq (+,${DEPEND_DEPTH})
+DEPEND_PKG+= py-sot-application
+endif
+
+ifeq (+,${PY_SOT_APPLICATION_DEPEND_MK}) # ---------------------------------
+
+PREFER.py-sot-application?= robotpkg
+
+SYSTEM_SEARCH.py-sot-application=\
+ 'include/sot/application/config.h:/PACKAGE_VERSION/s/[^0-9.]//gp' \
+ '${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/application/__init__.py' \
+ 'lib/pkgconfig/sot-application.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+= py-sot-application
+
+DEPEND_ABI.py-sot-application?= ${PKGTAG.python-}sot-application>=1.0.0
+DEPEND_DIR.py-sot-application?= ../../wip/py-sot-application
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_SOT_APPLICATION_DEPEND_MK ---------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/sot-application/distinfo b/py-sot-application/distinfo
similarity index 82%
rename from sot-application/distinfo
rename to py-sot-application/distinfo
index 6a0ec8fae54644a1eca4a5dbc380dd1a2044d3fa..099bed840d12df1dd0960c35bd3bfc710a24b71f 100644
--- a/sot-application/distinfo
+++ b/py-sot-application/distinfo
@@ -2,3 +2,4 @@ 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
SHA1 (patch-aa) = af2e3fd8e1b2c47f16a0affde3f3e006a14e3052
+SHA1 (patch-ab) = 865deb152aead18d82b8a9e4cc10ec42ab46090a
diff --git a/sot-application/patches/patch-aa b/py-sot-application/patches/patch-aa
similarity index 100%
rename from sot-application/patches/patch-aa
rename to py-sot-application/patches/patch-aa
diff --git a/py-sot-application/patches/patch-ab b/py-sot-application/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..8b01ea91ae6fe6472ccd64f706fa159973e99099
--- /dev/null
+++ b/py-sot-application/patches/patch-ab
@@ -0,0 +1,13 @@
+Use cmake's idea of the "make" program, so that it can be tuned by robotpkg
+
+--- cmake/sphinx.cmake~ 2013-12-12 10:41:29.000000000 +0100
++++ cmake/sphinx.cmake 2018-03-07 13:33:04.785563519 +0100
+@@ -27,7 +27,7 @@
+ ENDIF(NOT SPHINX_BUILD)
+
+ IF(UNIX)
+- SET(MAKE make)
++ SET(MAKE ${CMAKE_MAKE_PROGRAM})
+ ELSEIF(WIN32)
+ SET(MAKE nmake)
+ ELSE(UNIX)
diff --git a/sot-application/Makefile b/sot-application/Makefile
deleted file mode 100644
index 030f94b3d173a0b0bf21357b8c3f3845adce137b..0000000000000000000000000000000000000000
--- a/sot-application/Makefile
+++ /dev/null
@@ -1,25 +0,0 @@
-# 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
-PKGREVISION= 1
-
-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
-
-DYNAMIC_PLIST_DIRS+= share/doc/sot-application
-
-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/sysdep/python.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
deleted file mode 100644
index 2ba201b67c612bc0cb34e59e16f2f7c97a3f88cc..0000000000000000000000000000000000000000
--- a/sot-application/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# 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-application.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= sot-application
-
-DEPEND_ABI.sot-application?= sot-application>=1.0.0
-DEPEND_DIR.sot-application?= ../../wip/sot-application
-
-endif # SOT_ROMEO_DEPEND_MK -------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}