diff --git a/prf-roboticsgroup-gazebo-plugins/DESCR b/prf-roboticsgroup-gazebo-plugins/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..41aeee62003f163724f22b1b8d2399b1174fdb82
--- /dev/null
+++ b/prf-roboticsgroup-gazebo-plugins/DESCR
@@ -0,0 +1 @@
+roboticsgroup_gazebo_plugins provides a mimic joint for Gazebo.
diff --git a/talos-roboticsgroup-gazebo-plugins/Makefile b/prf-roboticsgroup-gazebo-plugins/Makefile
similarity index 61%
rename from talos-roboticsgroup-gazebo-plugins/Makefile
rename to prf-roboticsgroup-gazebo-plugins/Makefile
index 9cfa091c6d5a12c5bf0293ebcb71389896606abf..c697da50960620d579feba18467eb5998de3c8fe 100644
--- a/talos-roboticsgroup-gazebo-plugins/Makefile
+++ b/prf-roboticsgroup-gazebo-plugins/Makefile
@@ -1,17 +1,20 @@
-# robotpkg Makefile for: wip/talos-roboticsgroup-gazebo-plugins
+# robotpkg Makefile for: wip/prf-roboticsgroup-gazebo-plugins
# Created: Olivier Stasse on Fri, 21 Apr 2017
#
-VERSION= 0.0.4
-PKGNAME= talos-roboticsgroup-gazebo-plugins-${VERSION}
-DISTNAME= $(subst -,_,${PKGBASE})-${VERSION}
+VERSION= 0.1.0
+PRFNAME= roboticsgroup-gazebo-plugins
+PKGBASE= prf-${PRFNAME}
+DISTNAME= ${VERSION}
+PKGNAME= ${PKGBASE}-${VERSION}
+ROSNAME= $(subst -,_,${PRFNAME})
+WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_JRL:=talos/talos_roboticsgroup_gazebo_plugins/}
-LICENSE= openhrp-grx-license
-
-RESTRICTED= Redistribution of repackaged binaries not permitted
-NO_PUBLIC_SRC= ${RESTRICTED}
-NO_PUBLIC_BIN= ${RESTRICTED}
+#MASTER_SITES= ${MASTER_SITE_JRL:=talos/talos_roboticsgroup_gazebo_plugins/}
+HOMEPAGE= ${MASTER_SITE_GITHUB:=pal-robotics-forks/${ROSNAME}}
+MASTER_SITES= ${HOMEPAGE}/archive/
+LICENSE= pal-license
+COMMENT= Provides the mimic joint functionality in Gazebo.
CMAKE_ARGS+=\
-Dgazebo_INCLUDE_DIRS=$(filter include/%,${SYSTEM_SEARCH.gazebo}) \
@@ -31,9 +34,8 @@ include ../../math/ros-geometry/depend.mk
include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
-include ../../simulation/gazebo-ros-pkgs/depend.mk
-include ../../wip/talos-gazebo-ros-control/depend.mk
-include ../../wip/talos-pal-hardware-interfaces/depend.mk
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
+include ../../wip/pal-hardware-interfaces/depend.mk
include ../../mk/sysdep/gazebo.mk
include ../../mk/language/c++.mk
include ../../mk/language/c.mk
diff --git a/prf-roboticsgroup-gazebo-plugins/PLIST b/prf-roboticsgroup-gazebo-plugins/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..87b4b4a4687f5fe580852d7b67e6b413771aa137
--- /dev/null
+++ b/prf-roboticsgroup-gazebo-plugins/PLIST
@@ -0,0 +1,7 @@
+@comment Fri Apr 28 18:32:34 CEST 2017
+lib/libroboticsgroup_gazebo_disable_link_plugin.so
+lib/libroboticsgroup_gazebo_mimic_joint_plugin.so
+lib/pkgconfig/roboticsgroup_gazebo_plugins.pc
+share/roboticsgroup_gazebo_plugins/cmake/roboticsgroup_gazebo_pluginsConfig-version.cmake
+share/roboticsgroup_gazebo_plugins/cmake/roboticsgroup_gazebo_pluginsConfig.cmake
+share/roboticsgroup_gazebo_plugins/package.xml
diff --git a/prf-roboticsgroup-gazebo-plugins/depend.mk b/prf-roboticsgroup-gazebo-plugins/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..f5766269043c7a266762848155a59807f8d17bc3
--- /dev/null
+++ b/prf-roboticsgroup-gazebo-plugins/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for: wip/prf-roboticsgroup-gazebo-plugins
+# Created: Olivier Stasse on Thu, 4 May 2017
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PRF_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK:= ${PRF_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= prf-roboticsgroup-gazebo-plugins
+endif
+
+ifeq (+,$(PRF_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK)) # ----------------------------------
+
+PREFER.prf-roboticsgroup-gazebo-plugins?= robotpkg
+
+DEPEND_USE+= prf-roboticsgroup-gazebo-plugins
+
+DEPEND_ABI.prf-roboticsgroup-gazebo-plugins?= prf-roboticsgroup-gazebo-plugins>=0.0.3
+DEPEND_DIR.prf-roboticsgroup-gazebo-plugins?= ../../wip/prf-roboticsgroup-gazebo-plugins
+
+SYSTEM_SEARCH.prf-roboticsgroup-gazebo-plugins=\
+ 'lib/libroboticsgroup_gazebo_disable_link_plugin.so' \
+ 'share/roboticsgroup_gazebo_plugins/package.xml:/<version>/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/roboticsgroup_gazebo_plugins.pc:/Version/s/[^0-9.]//gp'
+
+endif # PRF_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK ----------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/prf-roboticsgroup-gazebo-plugins/distinfo b/prf-roboticsgroup-gazebo-plugins/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..e0594b3b60c9524b9ce3eceebbb13c4cb4208d5a
--- /dev/null
+++ b/prf-roboticsgroup-gazebo-plugins/distinfo
@@ -0,0 +1,3 @@
+SHA1 (0.1.0.tar.gz) = 934a97fc932c620eb063d6bb46b4e8caff8459a6
+RMD160 (0.1.0.tar.gz) = 8f27d59f207201009b71fa306743002e272e9747
+Size (0.1.0.tar.gz) = 7186 bytes
diff --git a/talos-roboticsgroup-gazebo-plugins/DESCR b/talos-roboticsgroup-gazebo-plugins/DESCR
deleted file mode 100644
index e4a8430342ec72fa3cdd0152888822318da7bb56..0000000000000000000000000000000000000000
--- a/talos-roboticsgroup-gazebo-plugins/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-roboticsgroup_gazebo_plugins specifically targeted for TALOS (0.2.4)
diff --git a/talos-roboticsgroup-gazebo-plugins/PLIST b/talos-roboticsgroup-gazebo-plugins/PLIST
deleted file mode 100644
index 628439154069ebaa7bb21566caea7526095f0807..0000000000000000000000000000000000000000
--- a/talos-roboticsgroup-gazebo-plugins/PLIST
+++ /dev/null
@@ -1,7 +0,0 @@
-@comment Fri Apr 28 18:32:34 CEST 2017
-lib/libtalos_roboticsgroup_gazebo_disable_link_plugin.so
-lib/libtalos_roboticsgroup_gazebo_mimic_joint_plugin.so
-lib/pkgconfig/talos_roboticsgroup_gazebo_plugins.pc
-share/talos_roboticsgroup_gazebo_plugins/cmake/talos_roboticsgroup_gazebo_pluginsConfig-version.cmake
-share/talos_roboticsgroup_gazebo_plugins/cmake/talos_roboticsgroup_gazebo_pluginsConfig.cmake
-share/talos_roboticsgroup_gazebo_plugins/package.xml
diff --git a/talos-roboticsgroup-gazebo-plugins/depend.mk b/talos-roboticsgroup-gazebo-plugins/depend.mk
deleted file mode 100644
index b450e399c51d555182e140d1adb2e2ab4d0db355..0000000000000000000000000000000000000000
--- a/talos-roboticsgroup-gazebo-plugins/depend.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# robotpkg depend.mk for: wip/talos-roboticsgroup-gazebo-plugins
-# Created: Olivier Stasse on Thu, 4 May 2017
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-TALOS_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK:= ${TALOS_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= talos-roboticsgroup-gazebo-plugins
-endif
-
-ifeq (+,$(TALOS_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK)) # ----------------------------------
-
-PREFER.talos-roboticsgroup-gazebo-plugins?= robotpkg
-
-DEPEND_USE+= talos-roboticsgroup-gazebo-plugins
-
-DEPEND_ABI.talos-roboticsgroup-gazebo-plugins?= talos-roboticsgroup-gazebo-plugins>=0.0.3
-DEPEND_DIR.talos-roboticsgroup-gazebo-plugins?= ../../wip/talos-roboticsgroup-gazebo-plugins
-
-SYSTEM_SEARCH.talos-roboticsgroup-gazebo-plugins=\
- 'lib/libtalos_roboticsgroup_gazebo_disable_link_plugin.so' \
- 'share/talos_roboticsgroup_gazebo_plugins/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/talos_roboticsgroup_gazebo_plugins.pc:/Version/s/[^0-9.]//gp'
-
-endif # TALOS_ROBOTICSGRP_GAZEBO_PLUGINS_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-roboticsgroup-gazebo-plugins/distinfo b/talos-roboticsgroup-gazebo-plugins/distinfo
deleted file mode 100644
index 105b4be5b9f19f7752ff7297a3ca31ee3c174d63..0000000000000000000000000000000000000000
--- a/talos-roboticsgroup-gazebo-plugins/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (talos_roboticsgroup_gazebo_plugins-0.0.4.tar.gz) = 462bd7b278b0a39d2f15defef36bd8463d1ef8e5
-RMD160 (talos_roboticsgroup_gazebo_plugins-0.0.4.tar.gz) = 92a054d122ab82270634869852daff0e24c4f2fb
-Size (talos_roboticsgroup_gazebo_plugins-0.0.4.tar.gz) = 5834 bytes