diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index 1ffc3d56a0f4172c3b9eab81cbc1bcb1f4236b90..33f79baba2c6d3c11bf321bc20c2615415637e58 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -4,7 +4,7 @@
 
 ORG=				stack-of-tasks
 NAME=				sot-torque-control
-VERSION=			1.2.0
+VERSION=			1.3.0
 
 DISTNAME=			${NAME}-${VERSION}
 PKGNAME=			${PKGTAG.python-}${DISTNAME}
@@ -24,9 +24,12 @@ include ../../${CATEGORIES}/${NAME}/depend.mk
 
 include ../../devel/boost-headers/depend.mk
 include ../../devel/boost-libs/depend.mk
+include ../../graphics/urdfdom/depend.mk
 include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
 include ../../math/py-pinocchio/depend.mk
+include ../../mapping/octomap/depend.mk
+include ../../path/hpp-fcl/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../wip/py-dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
diff --git a/py-sot-torque-control/PLIST b/py-sot-torque-control/PLIST
index ae53cf505356a190d2c2ceb419aa7b258696b978..e45c062bc39ca4e911065f30b78b1426e5f24d87 100644
--- a/py-sot-torque-control/PLIST
+++ b/py-sot-torque-control/PLIST
@@ -1,54 +1,54 @@
 @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.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/admittance_controller/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/common_sot_py.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/common_sot_py${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/wrap${PYTHON_EXT_SUFFIX}
 ${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
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/current_controller/wrap${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.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/filter_differentiator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/filter_differentiator/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/filter_differentiator/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/wrap${PYTHON_EXT_SUFFIX}
 ${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
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/imu_offset_compensation/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/madgwickahrs/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/madgwickahrs/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/madgwickahrs/wrap${PYTHON_EXT_SUFFIX}
 ${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
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/nd_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
 ${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
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/torque_offset_estimator/wrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/wrap${PYTHON_EXT_SUFFIX}
 ${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
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/wrap${PYTHON_EXT_SUFFIX}
diff --git a/py-sot-torque-control/distinfo b/py-sot-torque-control/distinfo
index 91ac4c39ba60f38853823203fb4adbcfc5d3427f..f7233a7c202cc1ea3a455bde31faea836328c8e9 100644
--- a/py-sot-torque-control/distinfo
+++ b/py-sot-torque-control/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-torque-control-1.2.0.tar.gz) = f6b11d1ef5df151254fddb00437310b0e069f46a
-RMD160 (sot-torque-control-1.2.0.tar.gz) = 69816d8dc751e49e20d3606a1f70d680676998b7
-Size (sot-torque-control-1.2.0.tar.gz) = 2020835 bytes
+SHA1 (sot-torque-control-1.3.0.tar.gz) = 9c7fe0e3fee95d5467cb4c7d57d050fca31cab16
+RMD160 (sot-torque-control-1.3.0.tar.gz) = 6a30ae990372a2578c8da19ed10d53479ab51d92
+Size (sot-torque-control-1.3.0.tar.gz) = 2017621 bytes