diff --git a/sot-hrprtc-hrp2/INSTALL b/sot-hrprtc-hrp2/INSTALL
new file mode 100644
index 0000000000000000000000000000000000000000..815e03dfa9ff934eda889666c6ce1c6c5c478f85
--- /dev/null
+++ b/sot-hrprtc-hrp2/INSTALL
@@ -0,0 +1,33 @@
+PKG_DBDIR="@PKG_DBDIR@"
+MKDIR="@MKDIR@"
+TEST="@TEST@"
+LOCALPKGNAME="@LOCALPKGNAME@"
+
+case $2 in
+
+  POST-INSTALL)
+    if ${TEST} -f ${PKG_PREFIX}/lib/RtcStackOfTasks.so; then
+      ln -s ${PKG_PREFIX}/lib/RtcStackOfTasks.so /opt/grx/lib/RtcStackOfTasks.so
+    fi    
+    if ${TEST} -f ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/bin/rtc-stack-of-tasks-comp; then
+      ln -s ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/bin/rtc-stack-of-tasks-comp /opt/grx/HRP2LAAS/bin/rtc-stack-of-tasks-comp
+    fi
+    if ${TEST} -f ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/bin/RtcStackOfTasksComp/rtc.conf; then
+      ln -s ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/bin/RtcStackOfTasksComp/rtc.conf /opt/grx/HRP2LAAS/bin/RtcStackOfTasksComp/rtc.confp
+    fi
+    if ${TEST} -f ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/guisot.py; then
+      ln -s ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/guisot.py /opt/grx/HRP2LAAS/script/guisot.py
+    fi
+    if ${TEST} -f ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/guiinfosot.py; then
+      ln -s ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/guiinfosot.py /opt/grx/HRP2LAAS/script/guiinfosot.py
+    fi
+    if ${TEST} -f ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/sot.py; then
+      ln -s ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/sot.py /opt/grx/HRP2LAAS/script/sot.py
+    fi
+    if ${TEST} -f ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/sotinfo.py; then
+      ln -s ${PKG_PREFIX}/share/${LOCALPKGNAME}/HRP2LAAS/script/sotinfo.py /opt/grx/HRP2LAAS/script/sotinfo.py
+    fi    
+
+    ;;
+esac
+        
\ No newline at end of file
diff --git a/sot-hrprtc-hrp2/Makefile b/sot-hrprtc-hrp2/Makefile
index 59ff540c5abcdbbf6a01e4f185406624091bbe88..1b488224e8d0179afe0e7f531de24467b1161a1f 100644
--- a/sot-hrprtc-hrp2/Makefile
+++ b/sot-hrprtc-hrp2/Makefile
@@ -1,8 +1,9 @@
 # robotpkg Makefile for:	wip/sot-hrprtc-hrp2
 # Created:			Olivier Stasse, on Wed. 28th January, 2016
 #
-VERSION=		1.2.0
-DISTNAME=		sot-hrprtc-hrp2-${VERSION}
+VERSION=		1.2.1
+LOCALPKGNAME=		sot-hrprtc-hrp2
+DISTNAME=		${LOCALPKGNAME}-${VERSION}
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-hrprtc-hrp2/}
 MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-hrprtc-hrp2
 
@@ -12,8 +13,12 @@ COMMENT=		This packages embeds the HRP-2 stack of tasks inside a RTC component
 LICENSE=		gnu-lgpl-v3
 MAINTAINER=		hpp@laas.fr
 
+INSTALL_VARS+= 		MKDIR PKG_DBDIR TEST LOCALPKGNAME
+
 DYNAMIC_PLIST_DIRS+=	share/doc/sot-hrprtc-hrp2
 
+CMAKE_ARGS+=		-DROBOTPKG=ON
+
 include ../../wip/sot-hrp2/depend.mk
 include ../../robots/hrp2-14/depend.mk
 include ../../wip/hrp2-bringup/depend.mk
diff --git a/sot-hrprtc-hrp2/distinfo b/sot-hrprtc-hrp2/distinfo
index 674225e8023286ed82e494724b46024f126bcebe..831e6f25db9ce38b73a51b0fe5844363697082cd 100644
--- a/sot-hrprtc-hrp2/distinfo
+++ b/sot-hrprtc-hrp2/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-hrprtc-hrp2-1.2.0.tar.gz) = 047da8649736b2fc449ed1bb14131df1177defed
-RMD160 (sot-hrprtc-hrp2-1.2.0.tar.gz) = abf4d57cafd55c063fc733b460a7ed3c52ded811
-Size (sot-hrprtc-hrp2-1.2.0.tar.gz) = 94862 bytes
+SHA1 (sot-hrprtc-hrp2-1.2.1.tar.gz) = f23072c6753684a3fd857ccfca0d653edc25c664
+RMD160 (sot-hrprtc-hrp2-1.2.1.tar.gz) = 5b3a6759cd6a8fe730a318c9f1f4001fdb900dbb
+Size (sot-hrprtc-hrp2-1.2.1.tar.gz) = 95011 bytes