diff --git a/hpp-affordance-corba/Makefile b/hpp-affordance-corba/Makefile
index 3c8e795ae3d8432d27aa0521d9a7997ec462d46f..e386aa918d3491b924638d143a68ffa0dc513f6c 100644
--- a/hpp-affordance-corba/Makefile
+++ b/hpp-affordance-corba/Makefile
@@ -4,10 +4,11 @@
 
 HPP_PACKAGE=	hpp-affordance-corba
 HPP_COMMENT=	Extract Whole-Body Affordances for Mutli-Contact Planning (CORBA bindings)
-HPP_VERSION=	4.5.0
 
 CATEGORIES=	wip
 
+USE_PYTHON=	true
+
 include ../../meta-pkgs/hpp/Makefile.common
 
 include ../../wip/hpp-affordance/depend.mk
@@ -26,5 +27,5 @@ include ../../mapping/octomap/depend.mk
 
 include ../../devel/boost-headers/depend.mk
 include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
+include ../../mk/language/c++11.mk
 include ../../mk/robotpkg.mk
diff --git a/hpp-affordance-corba/PLIST b/hpp-affordance-corba/PLIST
index 1d0953241457f8bb4fd1eb5fe9232c4330615d10..eef8e3b2eb1b726f10430d6e7ee6ab374b70eda2 100644
--- a/hpp-affordance-corba/PLIST
+++ b/hpp-affordance-corba/PLIST
@@ -6,7 +6,7 @@ include/hpp/corbaserver/affordance/deprecated.hh
 include/hpp/corbaserver/affordance/fwd.hh
 include/hpp/corbaserver/affordance/server.hh
 include/hpp/corbaserver/affordance/warning.hh
-lib/libhpp-affordance-corba.so
+lib/hppPlugins/affordance-corba.so
 lib/pkgconfig/hpp-affordance-corba.pc
 ${PYTHON_SITELIB}/hpp/corbaserver/affordance/__init__.py
 ${PYTHON_SITELIB}/hpp/corbaserver/affordance/affordance.py
diff --git a/hpp-affordance-corba/depend.mk b/hpp-affordance-corba/depend.mk
index aeda13e6f0566f95611f163c1deb59e314549027..5e36f086c24a620b31cc6e4b549170e2206292b8 100644
--- a/hpp-affordance-corba/depend.mk
+++ b/hpp-affordance-corba/depend.mk
@@ -11,16 +11,18 @@ endif
 
 ifeq (+,$(HPP_AFFORDANCE_CORBA_DEPEND_MK)) # --------------------------------------
 
+include ../../mk/sysdep/python.mk
+
 PREFER.hpp-affordance-corba?=	robotpkg
 
 DEPEND_USE+=		hpp-affordance-corba
 
-DEPEND_ABI.hpp-affordance-corba?=	hpp-affordance-corba>=4.3.0
+DEPEND_ABI.hpp-affordance-corba?=	${PKGTAG.python-}hpp-affordance-corba>=4.7.0
 DEPEND_DIR.hpp-affordance-corba?=	../../wip/hpp-affordance-corba
 
 SYSTEM_SEARCH.hpp-affordance-corba=\
-	include/hpp/corbaserver/affordance/config.hh	\
-	lib/libhpp-affordance-corba.so	\
+	include/hpp/corbaserver/affordance/config.hh			\
+	lib/hppPlugins/affordance-corba.so				\
 	'lib/pkgconfig/hpp-affordance-corba.pc:/Version/s/[^0-9.]//gp'
 
 endif # HPP_AFFORDANCE_CORBA_DEPEND_MK --------------------------------------------
diff --git a/hpp-affordance-corba/distinfo b/hpp-affordance-corba/distinfo
index c78dc7e30c641bc1bef2ea0f68cd4f35e385872e..9d3d74991a175c3e650bc5174d7225489ab88950 100644
--- a/hpp-affordance-corba/distinfo
+++ b/hpp-affordance-corba/distinfo
@@ -1,4 +1,3 @@
-SHA1 (hpp-affordance-corba-4.5.0.tar.gz) = 4c8269dec95796307079a7dc2b6e2e08460b8e70
-RMD160 (hpp-affordance-corba-4.5.0.tar.gz) = 2bc141b16949fd82234bc1b814de55b2baa8ec0c
-Size (hpp-affordance-corba-4.5.0.tar.gz) = 951237 bytes
-SHA1 (patch-aa) = a38cd4d0527e536d49be7376f3b8a630303d64a8
+SHA1 (hpp-affordance-corba-4.7.0.tar.gz) = 402e2b5b0cda4fc928699c12519071939f780291
+RMD160 (hpp-affordance-corba-4.7.0.tar.gz) = 7389b021bb4a0e83ae4f8f8840a415f87d811364
+Size (hpp-affordance-corba-4.7.0.tar.gz) = 949774 bytes
diff --git a/hpp-affordance-corba/patches/patch-aa b/hpp-affordance-corba/patches/patch-aa
deleted file mode 100644
index a5c8bdda1da5ed6d5cab2eca1595aceac40c77c0..0000000000000000000000000000000000000000
--- a/hpp-affordance-corba/patches/patch-aa
+++ /dev/null
@@ -1,13 +0,0 @@
-include pinocchio before boost
-ref https://github.com/stack-of-tasks/pinocchio/issues/849
-
---- src/affordance.impl.cc.orig	2019-04-16 16:02:43.000000000 +0200
-+++ src/affordance.impl.cc	2019-09-17 23:55:48.089288370 +0200
-@@ -10,6 +10,7 @@
- 
- #include <iostream>
- 
-+#include <pinocchio/fwd.hpp>
- #include <hpp/util/debug.hh>
- 
- #include "hpp/affordance/affordance-extraction.hh"