diff --git a/sot-hrp2-v2/DESCR b/sot-hrp2-v2/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..d0243e143a8ffc805a1a4dc71faaef9aef881bd5
--- /dev/null
+++ b/sot-hrp2-v2/DESCR
@@ -0,0 +1 @@
+The library embedding the Stack of Tasks for HRP2-14
diff --git a/sot-hrp2-v2/Makefile b/sot-hrp2-v2/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..12ac5d433f486e057b8810b6f9797571e7051bfc
--- /dev/null
+++ b/sot-hrp2-v2/Makefile
@@ -0,0 +1,39 @@
+# robotpkg Makefile for:	wip/sot-hrp2-v2
+# Created:			Rohan Budhiraja, on Wed. 14th April 2016
+#
+
+VERSION=		2.0.0
+DISTNAME=		sot-hrp2-${VERSION}
+PKGNAME=		sot-hrp2-${VERSION}
+
+
+CATEGORIES=		wip
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-hrp2/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}proyan/sot-hrp2
+
+COMMENT=		This packages provides a generic Stack Of Tasks library for the humanoid robot HRP-2.
+LICENSE=		gnu-lgpl-v3
+MAINTAINER=		hpp@laas.fr
+
+DYNAMIC_PLIST_DIRS+=	share/doc/sot-hrp2
+
+
+include ../../robots/hrp2-14/depend.mk
+
+include ../../wip/dynamic-graph-bridge3/depend.mk
+include ../../wip/dynamic-graph-bridge-msgs/depend.mk
+include ../../wip/sot-dynamic-pinocchio/depend.mk
+include ../../wip/py-sot-tools2/depend.mk
+include ../../wip/sot-core3/depend.mk
+include ../../wip/py-dynamic-graph3/depend.mk
+include ../../wip/dynamic-graph3/depend.mk
+
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/pdflatex.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
+
diff --git a/sot-hrp2-v2/PLIST b/sot-hrp2-v2/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..896b90a50b844adfe11ad3bb4df65b04543b68a5
--- /dev/null
+++ b/sot-hrp2-v2/PLIST
@@ -0,0 +1,17 @@
+include/sot-hrp2/config.h
+include/sot-hrp2/config.hh
+include/sot-hrp2/deprecated.hh
+include/sot-hrp2/warning.hh
+lib/libsot-hrp2-14-controller.so
+lib/libsot-hrp2-device.so
+lib/pkgconfig/sot-hrp2.pc
+lib/plugin/libdynamic-hrp2_14.so
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2/dynamic_hrp2_14/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2/dynamic_hrp2_14/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2/hrp2.py
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2/sot_hrp2_device/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2/sot_hrp2_device/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2_14/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2_14/prologue.py
+${PYTHON_SITELIB}/dynamic_graph/sot/hrp2_14/robot.py
diff --git a/sot-hrp2-v2/depend.mk b/sot-hrp2-v2/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..17159642b9d3fb1d29ac1924143f882886af5731
--- /dev/null
+++ b/sot-hrp2-v2/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for:	wip/sot-hrp2-v2
+# Created:			Rohan Budhiraja on Thu 14th Apr 2016
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+SOT_HRP2_DEPEND_MK:=	${SOT_HRP2_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		sot-hrp2
+endif
+
+ifeq (+,$(SOTH_DEPEND_MK)) # -------------------------------------------
+
+PREFER.sot-hrp2?=	robotpkg
+
+SYSTEM_SEARCH.sot-hrp2=\
+	include/sot-hrp2/config.h				\
+	'lib/pkgconfig/sot-hrp2.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		sot-hrp2
+
+DEPEND_ABI.sot-hrp2?=	sot-hrp2>=2.0.0
+DEPEND_DIR.sot-hrp2?=	../../wip/sot-hrp2-v2
+
+endif # SOT_HRP2_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/sot-hrp2-v2/distinfo b/sot-hrp2-v2/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..e18be743d1f86e4832f19d54f8de6a28dab45f3c
--- /dev/null
+++ b/sot-hrp2-v2/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-hrp2-2.0.0.tar.gz) = bca083097d738ec7068ac18e40a010a234d85adb
+RMD160 (sot-hrp2-2.0.0.tar.gz) = 09e7b37f9d101b648f8b0a60c1402ede975cf471
+Size (sot-hrp2-2.0.0.tar.gz) = 732719 bytes