diff --git a/py-sot-tools2/DESCR b/py-sot-tools2/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..22f3818c4e704d179e964d217a8766032236311d
--- /dev/null
+++ b/py-sot-tools2/DESCR
@@ -0,0 +1 @@
+Python tools for motion/sot-core package
diff --git a/py-sot-tools2/Makefile b/py-sot-tools2/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..3e663c7ed1548df9f9fe5df1b72b34c9a96f41d6
--- /dev/null
+++ b/py-sot-tools2/Makefile
@@ -0,0 +1,44 @@
+# robotpkg Makefile for:	motion/py-sot-tools
+# Created:			Olivier Stasse on Mon, 15 Apr 2013
+#
+
+VERSION=		2.0.0
+DISTNAME=		sot-tools-${VERSION}
+PKGNAME=		${PKGTAG.python-}sot-tools-${VERSION}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-tools2/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/proyan/sot-tools
+
+MAINTAINER=		gepetto@laas.fr
+CATEGORIES=		motion
+LICENSE=		gnu-lgpl-v3
+COMMENT=		Python tools for motion/sot-core package
+
+CONFLICTS+=		py[0-9][0-9]-sot-tools-[0-9]*
+DYNAMIC_PLIST_DIRS+=	share/doc/sot-tools
+
+CMAKE_ARGS+=		-DPYTHON_EXECUTABLE=${PYTHON}
+CMAKE_ARGS+=		-DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE}
+CMAKE_ARGS+=		-DPYTHON_LIBRARY=${PYTHON_LIB}
+CMAKE_ARGS+=		-DPYTHON_SITELIB=${PYTHON_SITELIB}
+
+CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+
+# disable -Werror, some warnings from boost-filesystem (1.50, netbsd) cannot be
+# fixed here
+CMAKE_ARGS+=		-DCXX_DISABLE_WERROR=yes
+
+DEPEND_ABI.python+=	python<3
+
+include ../../wip/sot-core3/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/pdflatex.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/sysdep/py-numpy.mk
+include ../../mk/sysdep/py-sphinx.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/py-sot-tools2/PLIST b/py-sot-tools2/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..5db59d4028b8743d0939a3351c6bea7b5eafb4de
--- /dev/null
+++ b/py-sot-tools2/PLIST
@@ -0,0 +1,17 @@
+@comment Thu Apr 18 14:34:09 CEST 2013
+include/sot/tools/config.h
+include/sot/tools/config.hh
+include/sot/tools/deprecated.hh
+include/sot/tools/warning.hh
+lib/libsot-tools.so
+lib/pkgconfig/sot-tools.pc
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/quaternion.py
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/${PYTHON_PYCACHE}/quaternion${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/${PYTHON_PYCACHE}/quaternion${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/se3.py
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/${PYTHON_PYCACHE}/se3${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/${PYTHON_PYCACHE}/se3${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/dynamic_graph/sot/tools/wrap.so
diff --git a/py-sot-tools2/depend.mk b/py-sot-tools2/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..df86c932cd3f760ebe4042278a82c276c1847729
--- /dev/null
+++ b/py-sot-tools2/depend.mk
@@ -0,0 +1,30 @@
+# robotpkg depend.mk for:	motion/py-sot-tools
+# Created:			Olivier Stasse on Mon, 15 Apr 2013
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+PY_SOT_TOOLS_DEPEND_MK:=	${PY_SOT_TOOLSDEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			py-sot-tools
+endif
+
+ifeq (+,$(PY_SOT_TOOLS_DEPEND_MK)) # -----------------------------------
+
+PREFER.py-sot-tools?=	robotpkg
+
+DEPEND_USE+=			py-sot-tools
+DEPEND_ABI.py-sot-tools?=	${PKGTAG.python-}sot-tools>=2.0
+DEPEND_DIR.py-sot-tools?=	../../wip/py-sot-tools2
+
+SYSTEM_SEARCH.py-sot-tools=\
+	include/sot/tools/config.hh				\
+	lib/libsot-tools.so					\
+	'lib/pkgconfig/sot-tools.pc:/Version/s/[^0-9.]//gp'	\
+	'${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/tools/__init__.py'
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_SOT_TOOLS_DEPEND_MK -----------------------------------------
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH:+=}
diff --git a/py-sot-tools2/distinfo b/py-sot-tools2/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..cc37f7b4d85f45c8d82dec835021b49b19a17d00
--- /dev/null
+++ b/py-sot-tools2/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-tools-2.0.0.tar.gz) = adb5cdce5780fa927a9cc2419447d5a35d45ba66
+RMD160 (sot-tools-2.0.0.tar.gz) = 691f682f5f79269803a71d0db2837ccac71ba29b
+Size (sot-tools-2.0.0.tar.gz) = 91880 bytes