diff --git a/hpp-environments/Makefile b/hpp-environments/Makefile
index 99e841505bc7433c5ac815a4a3a7552af5f034e9..551079f5f149d7cfa07eceabf5802b4084b8331b 100644
--- a/hpp-environments/Makefile
+++ b/hpp-environments/Makefile
@@ -4,14 +4,13 @@
HPP_PACKAGE= hpp-environments
HPP_COMMENT= Environments and robot descriptions for HPP
-HPP_VERSION= 4.4.0
-PKGREVISION= 1
CATEGORIES= wip
+USE_PYTHON= true
+
include ../../meta-pkgs/hpp/Makefile.common
-include ../../mk/sysdep/python.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-environments/PLIST b/hpp-environments/PLIST
index c778ac2e1d6ec7a7f0011bf3d54d7d63d11c3c91..85b9a90a9b44e45353b5fae31f81c7708570d489 100644
--- a/hpp-environments/PLIST
+++ b/hpp-environments/PLIST
@@ -4,9 +4,7 @@ include/hpp/environments/deprecated.hh
include/hpp/environments/warning.hh
lib/pkgconfig/hpp-environments.pc
${PYTHON_SITELIB}/hpp/environments/__init__.py
-${PYTHON_SITELIB}/hpp/environments/__init__.pyc
${PYTHON_SITELIB}/hpp/environments/robot.py
-${PYTHON_SITELIB}/hpp/environments/robot.pyc
share/hpp_environments/meshes/CMakeLists.txt
share/hpp_environments/meshes/buggy/buggy.dae
share/hpp_environments/meshes/buggy/buggyBB.dae
@@ -16,6 +14,9 @@ share/hpp_environments/meshes/buggy/scene.stl
share/hpp_environments/meshes/buggy/wheel_frontleft.dae
share/hpp_environments/meshes/buggy/wheel_frontright.dae
share/hpp_environments/meshes/hrp2/floor.dae
+share/hpp_environments/meshes/multicontact/antfarm_firstLevel.stl
+share/hpp_environments/meshes/multicontact/bauzil_ramp.stl
+share/hpp_environments/meshes/multicontact/bauzil_ramp_simplified.stl
share/hpp_environments/meshes/multicontact/bauzil_simplified.stl
share/hpp_environments/meshes/multicontact/bauzil_stairs.stl
share/hpp_environments/meshes/multicontact/bauzil_stairs_10cm.stl
@@ -70,8 +71,12 @@ share/hpp_environments/meshes/multicontact/ground_tablec.stl
share/hpp_environments/meshes/multicontact/ground_with_bridge.stl
share/hpp_environments/meshes/multicontact/groundcrouch.stl
share/hpp_environments/meshes/multicontact/obstacle.stl
+share/hpp_environments/meshes/multicontact/ori_plinth.stl
share/hpp_environments/meshes/multicontact/pedal.stl
share/hpp_environments/meshes/multicontact/plane.stl
+share/hpp_environments/meshes/multicontact/plateforme_not_flat.stl
+share/hpp_environments/meshes/multicontact/plateforme_surfaces.stl
+share/hpp_environments/meshes/multicontact/plateforme_surfaces_scale.stl
share/hpp_environments/meshes/multicontact/plateformes_full.stl
share/hpp_environments/meshes/multicontact/platform_hand.stl
share/hpp_environments/meshes/multicontact/polaris.stl
@@ -95,6 +100,7 @@ share/hpp_environments/meshes/multicontact/test.stl
share/hpp_environments/meshes/multicontact/truck.stl
share/hpp_environments/meshes/multicontact/truck_vision.stl
share/hpp_environments/meshes/multicontact/untitled.stl
+share/hpp_environments/meshes/ori/modular_palet_low.stl
share/hpp_environments/meshes/tests/baxter_simple/torso.dae
share/hpp_environments/meshes/ur_benchmark/pokeball.dae
share/hpp_environments/package.xml
@@ -107,6 +113,9 @@ share/hpp_environments/srdf/construction_set/ground.srdf
share/hpp_environments/srdf/construction_set/sphere.srdf
share/hpp_environments/srdf/drawer_desk/desk.srdf
share/hpp_environments/srdf/hrp2/floor_as_mesh.srdf
+share/hpp_environments/srdf/multicontact/antfarm_firstLevel.srdf
+share/hpp_environments/srdf/multicontact/bauzil_ramp.srdf
+share/hpp_environments/srdf/multicontact/bauzil_ramp_simplified.srdf
share/hpp_environments/srdf/multicontact/bauzil_stairs.srdf
share/hpp_environments/srdf/multicontact/bauzil_stairs_10cm.srdf
share/hpp_environments/srdf/multicontact/bauzil_stairs_collision.srdf
@@ -139,8 +148,11 @@ share/hpp_environments/srdf/multicontact/ground_jump_med.srdf
share/hpp_environments/srdf/multicontact/ground_with_bridge.srdf
share/hpp_environments/srdf/multicontact/groundcrouch.srdf
share/hpp_environments/srdf/multicontact/obstacle_towr.srdf
+share/hpp_environments/srdf/multicontact/ori_plinth.srdf
share/hpp_environments/srdf/multicontact/plane.srdf
share/hpp_environments/srdf/multicontact/plane_hole.srdf
+share/hpp_environments/srdf/multicontact/plateforme_not_flat.srdf
+share/hpp_environments/srdf/multicontact/plateforme_surfaces.srdf
share/hpp_environments/srdf/multicontact/polaris.srdf
share/hpp_environments/srdf/multicontact/roomWall.srdf
share/hpp_environments/srdf/multicontact/scene.srdf
@@ -157,6 +169,7 @@ share/hpp_environments/srdf/multicontact/stairs_towr.srdf
share/hpp_environments/srdf/multicontact/stepladder.srdf
share/hpp_environments/srdf/multicontact/table.srdf
share/hpp_environments/srdf/multicontact/truck.srdf
+share/hpp_environments/srdf/ori/modular_palet_low.srdf
share/hpp_environments/srdf/placard.srdf
share/hpp_environments/srdf/scene.srdf
share/hpp_environments/srdf/tests/baxter_simple.srdf
@@ -179,6 +192,9 @@ share/hpp_environments/urdf/drawer_desk/drawer.urdf.xacro
share/hpp_environments/urdf/drawer_desk/table.urdf.xacro
share/hpp_environments/urdf/drawer_desk/table_leg.urdf.xacro
share/hpp_environments/urdf/hrp2/floor_as_mesh.urdf
+share/hpp_environments/urdf/multicontact/antfarm_firstLevel.urdf
+share/hpp_environments/urdf/multicontact/bauzil_ramp.urdf
+share/hpp_environments/urdf/multicontact/bauzil_ramp_simplified.urdf
share/hpp_environments/urdf/multicontact/bauzil_stairs.urdf
share/hpp_environments/urdf/multicontact/bauzil_stairs_10cm.urdf
share/hpp_environments/urdf/multicontact/bauzil_stairs_collision.urdf
@@ -212,7 +228,10 @@ share/hpp_environments/urdf/multicontact/ground_jump_med.urdf
share/hpp_environments/urdf/multicontact/ground_with_bridge.urdf
share/hpp_environments/urdf/multicontact/groundcrouch.urdf
share/hpp_environments/urdf/multicontact/obstacle_towr.urdf
+share/hpp_environments/urdf/multicontact/ori_plinth.urdf
share/hpp_environments/urdf/multicontact/plane.urdf
+share/hpp_environments/urdf/multicontact/plateforme_not_flat.urdf
+share/hpp_environments/urdf/multicontact/plateforme_surfaces.urdf
share/hpp_environments/urdf/multicontact/polaris.urdf
share/hpp_environments/urdf/multicontact/roomWall.urdf
share/hpp_environments/urdf/multicontact/scene.urdf
@@ -229,6 +248,7 @@ share/hpp_environments/urdf/multicontact/stairs_towr.urdf
share/hpp_environments/urdf/multicontact/stepladder.urdf
share/hpp_environments/urdf/multicontact/table.urdf
share/hpp_environments/urdf/multicontact/truck.urdf
+share/hpp_environments/urdf/ori/modular_palet_low.urdf
share/hpp_environments/urdf/placard-vertical.urdf
share/hpp_environments/urdf/placard.urdf
share/hpp_environments/urdf/scene.urdf
diff --git a/hpp-environments/depend.mk b/hpp-environments/depend.mk
index 35e17d4b97cc9eb17e6fd119fec8056c61189498..0bd6a950d6bee35566a12ccd5291bfa3c58821b4 100644
--- a/hpp-environments/depend.mk
+++ b/hpp-environments/depend.mk
@@ -11,11 +11,13 @@ endif
ifeq (+,$(HPPENVIRONMENTS_DEPEND_MK)) # --------------------------------------
+include ../../mk/sysdep/python.mk
+
PREFER.hpp-environments?= robotpkg
DEPEND_USE+= hpp-environments
-DEPEND_ABI.hpp-environments?= hpp-environments>=4.2.0
+DEPEND_ABI.hpp-environments?= ${PKGTAG.python-}hpp-environments>=4.7.0
DEPEND_DIR.hpp-environments?= ../../wip/hpp-environments
SYSTEM_SEARCH.hpp-environments=\
diff --git a/hpp-environments/distinfo b/hpp-environments/distinfo
index 12d93be13de0652e1f96886c5724e97f0286d794..a8efaacc8c550ce887b5d46cbd27b226bad8ed0c 100644
--- a/hpp-environments/distinfo
+++ b/hpp-environments/distinfo
@@ -1,4 +1,3 @@
-SHA1 (hpp-environments-4.4.0.tar.gz) = 4837ed1b1fb064b8edf4ec6b51994c687ad305ba
-RMD160 (hpp-environments-4.4.0.tar.gz) = 1fa323b9397f5fe3be7c0eb10e56a4a50b72d1de
-Size (hpp-environments-4.4.0.tar.gz) = 5759899 bytes
-SHA1 (patch-aa) = f1e11736b8cc41791d13786e94b0f3272d590a9d
+SHA1 (hpp-environments-4.7.0.tar.gz) = e07e1c8ef8429fffd42fdf485268758b2c7c330b
+RMD160 (hpp-environments-4.7.0.tar.gz) = ba621af0b936dc7da59c6cd09fd70f8326e8611a
+Size (hpp-environments-4.7.0.tar.gz) = 5793985 bytes
diff --git a/hpp-environments/patches/patch-aa b/hpp-environments/patches/patch-aa
deleted file mode 100644
index b1cacdcb1efd2deae82d5b056b1148aa2199eaaf..0000000000000000000000000000000000000000
--- a/hpp-environments/patches/patch-aa
+++ /dev/null
@@ -1,16 +0,0 @@
---- src/hpp/environments/__init__.py.orig 2019-02-11 12:56:51.000000000 +0100
-+++ src/hpp/environments/__init__.py 2019-08-22 13:32:38.074742112 +0200
-@@ -1 +1 @@
--from robot import Buggy
-+from .robot import Buggy
---- CMakeLists.txt.orig 2019-02-11 12:56:51.000000000 +0100
-+++ CMakeLists.txt 2019-08-22 13:32:24.554859622 +0200
-@@ -25,7 +25,7 @@
-
- SETUP_HPP_PROJECT()
-
--FINDPYTHON(2.7 EXACT REQUIRED)
-+FINDPYTHON(REQUIRED)
-
- SET(TEXTURE_FILES
- texture/logo_romeo.jpg