diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index 497a59dabb5127f94329d22045beb752329e0fe7..52f6715436b89ba42287653854d40755e927f304 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -4,8 +4,7 @@
ORG= stack-of-tasks
NAME= sot-torque-control
-VERSION= 1.4.0
-PKGREVISION= 1
+VERSION= 1.5.0
CATEGORIES= wip
COMMENT= Torque control for humanoids (python bindings)
diff --git a/py-sot-torque-control/PLIST b/py-sot-torque-control/PLIST
index f9588a39a5f0dbfd6bdb4c5f222d7bc27045e39e..8ffe8dba0ff0e206d0fa28034725c8f861ac5eeb 100644
--- a/py-sot-torque-control/PLIST
+++ b/py-sot-torque-control/PLIST
@@ -1,49 +1,49 @@
@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/admittance_controller/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/base_estimator/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/control_manager/wrap.so
${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/current_controller/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/ddp_actuator_solver/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/ddp_actuator_solver/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/ddp_actuator_solver/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/device_torque_ctrl/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/free_flyer_locator/wrap.so
${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${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/imu_offset_compensation/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/inverse_dynamics_balance_controller/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_torque_controller/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/joint_trajectory_generator/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/main.py
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/main_sim.py
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/numerical_difference/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/position_controller/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/se3_trajectory_generator/wrap.so
${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${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/torque_offset_estimator/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/trace_player/wrap.so
${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${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/wrap.so
diff --git a/py-sot-torque-control/distinfo b/py-sot-torque-control/distinfo
index 580ac36f4d8d064e9462c0ec3a71460452cbab54..973634a0f20326cc1816c3ba671f3785b55a3d89 100644
--- a/py-sot-torque-control/distinfo
+++ b/py-sot-torque-control/distinfo
@@ -1,6 +1,3 @@
-SHA1 (sot-torque-control-1.4.0.tar.gz) = 79e3065f7b5b6ca74daa264cb53852d1a543c454
-RMD160 (sot-torque-control-1.4.0.tar.gz) = 1635171a5b1a4383485cd81d81a809707404a94b
-Size (sot-torque-control-1.4.0.tar.gz) = 2010149 bytes
-SHA1 (patch-aa) = 86cf4a4c722a20c104592d09d79974d29f2cb19f
-SHA1 (patch-ab) = 65531cbbc1ea697e9f4f63f864fd811a99e955ae
-SHA1 (patch-ad) = 9731f90f2c33abec026a1d34cfaa653316b84427
+SHA1 (sot-torque-control-1.5.0.tar.gz) = 814e4b4804af6a983169c33d05ad5c195277940f
+RMD160 (sot-torque-control-1.5.0.tar.gz) = c24ad9e0b94b37a35feb847dc13fa5e2d86d8638
+Size (sot-torque-control-1.5.0.tar.gz) = 2000390 bytes
diff --git a/py-sot-torque-control/patches/patch-aa b/py-sot-torque-control/patches/patch-aa
deleted file mode 100644
index ffcee1be2d971b071cf88b35734d339720ae0b2a..0000000000000000000000000000000000000000
--- a/py-sot-torque-control/patches/patch-aa
+++ /dev/null
@@ -1,11 +0,0 @@
---- python/dynamic_graph/sot/torque_control/utils/filter_utils.py
-+++ python/dynamic_graph/sot/torque_control/utils/filter_utils.py
-@@ -1,4 +1,4 @@
--from dynamic_graph.sot.torque_control.filter_differentiator import FilterDifferentiator
-+from dynamic_graph.sot.core.filter_differentiator import FilterDifferentiator
-
- def create_butter_lp_filter_Wn_05_N_2(name, dt, size):
- lp_filter = FilterDifferentiator(name);
---
-2.7.4
-
diff --git a/py-sot-torque-control/patches/patch-ab b/py-sot-torque-control/patches/patch-ab
deleted file mode 100644
index 72ef67639f1b9e60ce3968c5a25c71c6c48a2607..0000000000000000000000000000000000000000
--- a/py-sot-torque-control/patches/patch-ab
+++ /dev/null
@@ -1,14 +0,0 @@
-Don't install main .pc
-
---- cmake/base.cmake~ 2017-10-26 15:25:19.000000000 +0200
-+++ cmake/base.cmake 2018-04-26 18:06:07.322011937 +0200
-@@ -226,9 +226,7 @@
- # finalize the project setup.
- #
- MACRO(SETUP_PROJECT_FINALIZE)
-- _SETUP_PROJECT_PKG_CONFIG_FINALIZE()
- _SETUP_PROJECT_DOCUMENTATION_FINALIZE()
-- _SETUP_PROJECT_HEADER_FINAlIZE()
- _SETUP_DEBIAN()
- # Install data if needed
- _INSTALL_PROJECT_DATA()
diff --git a/py-sot-torque-control/patches/patch-ad b/py-sot-torque-control/patches/patch-ad
deleted file mode 100644
index 83ef8fe0054c7c19212a59d6abe3cc57a3f10707..0000000000000000000000000000000000000000
--- a/py-sot-torque-control/patches/patch-ad
+++ /dev/null
@@ -1,40 +0,0 @@
-Don't install main headers
-
---- cmake/header.cmake~ 2017-10-26 15:25:19.000000000 +0200
-+++ cmake/header.cmake 2018-04-26 18:37:42.582417765 +0200
-@@ -92,11 +92,6 @@
- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
- @ONLY
- )
-- INSTALL(FILES
-- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
-- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
- # Generate warning.hh header.
- CONFIGURE_FILE(
- ${PROJECT_SOURCE_DIR}/cmake/warning.hh.cmake
-@@ -104,11 +99,6 @@
- @ONLY
- )
-
-- INSTALL(FILES
-- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/warning.${PROJECT_CUSTOM_HEADER_EXTENSION}
-- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
-
-
- # Generate config.h header.
-@@ -150,11 +140,6 @@
- @ONLY
- )
- # Install it.
-- INSTALL(FILES
-- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/${FILENAME}
-- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
- ENDFUNCTION(GENERATE_CONFIGURATION_HEADER)
-
-
diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index 733aceed709e7f477872f22bfb4daaee6298003c..791af4f392544360b19df91e225f3cf5772d791a 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -4,8 +4,7 @@
ORG= stack-of-tasks
NAME= sot-torque-control
-VERSION= 1.4.0
-PKGREVISION= 1
+VERSION= 1.5.0
CATEGORIES= wip
COMMENT= Torque control for humanoids
diff --git a/sot-torque-control/PLIST b/sot-torque-control/PLIST
index 900b8bab647ca5cbb63bf2c1f7eea432a41448f2..c881ba2b1bc7c4b541b5c792201b3d971c0c6b2a 100644
--- a/sot-torque-control/PLIST
+++ b/sot-torque-control/PLIST
@@ -1,12 +1,11 @@
@comment Wed Feb 21 18:24:12 CET 2018
-include/sot/torque-control/config.hh
-include/sot/torque-control/deprecated.hh
-include/sot/torque-control/warning.hh
include/sot/torque_control/admittance-controller.hh
include/sot/torque_control/base-estimator.hh
include/sot/torque_control/commands-helper.hh
+include/sot/torque_control/config.hh
include/sot/torque_control/control-manager.hh
include/sot/torque_control/current-controller.hh
+include/sot/torque_control/deprecated.hh
include/sot/torque_control/device-torque-ctrl.hh
include/sot/torque_control/free-flyer-locator.hh
include/sot/torque_control/imu_offset_compensation.hh
@@ -25,6 +24,7 @@ include/sot/torque_control/utils/poly-estimator.hh
include/sot/torque_control/utils/quad-estimator.hh
include/sot/torque_control/utils/trajectory-generators.hh
include/sot/torque_control/utils/vector-conversions.hh
+include/sot/torque_control/warning.hh
lib/libsot-torque-control.so
lib/libsot-torque-control.so.${PKGVERSION}
lib/pkgconfig/sot-torque-control.pc
diff --git a/sot-torque-control/distinfo b/sot-torque-control/distinfo
index ca1468ce64c733ab13c4bfcb66e1defbee8d450b..973634a0f20326cc1816c3ba671f3785b55a3d89 100644
--- a/sot-torque-control/distinfo
+++ b/sot-torque-control/distinfo
@@ -1,4 +1,3 @@
-SHA1 (sot-torque-control-1.4.0.tar.gz) = 79e3065f7b5b6ca74daa264cb53852d1a543c454
-RMD160 (sot-torque-control-1.4.0.tar.gz) = 1635171a5b1a4383485cd81d81a809707404a94b
-Size (sot-torque-control-1.4.0.tar.gz) = 2010149 bytes
-SHA1 (patch-aa) = 86cf4a4c722a20c104592d09d79974d29f2cb19f
+SHA1 (sot-torque-control-1.5.0.tar.gz) = 814e4b4804af6a983169c33d05ad5c195277940f
+RMD160 (sot-torque-control-1.5.0.tar.gz) = c24ad9e0b94b37a35feb847dc13fa5e2d86d8638
+Size (sot-torque-control-1.5.0.tar.gz) = 2000390 bytes
diff --git a/sot-torque-control/patches/patch-aa b/sot-torque-control/patches/patch-aa
deleted file mode 100644
index ffcee1be2d971b071cf88b35734d339720ae0b2a..0000000000000000000000000000000000000000
--- a/sot-torque-control/patches/patch-aa
+++ /dev/null
@@ -1,11 +0,0 @@
---- python/dynamic_graph/sot/torque_control/utils/filter_utils.py
-+++ python/dynamic_graph/sot/torque_control/utils/filter_utils.py
-@@ -1,4 +1,4 @@
--from dynamic_graph.sot.torque_control.filter_differentiator import FilterDifferentiator
-+from dynamic_graph.sot.core.filter_differentiator import FilterDifferentiator
-
- def create_butter_lp_filter_Wn_05_N_2(name, dt, size):
- lp_filter = FilterDifferentiator(name);
---
-2.7.4
-