diff --git a/sot-pattern-generator-v3/Makefile b/sot-pattern-generator-v3/Makefile
index 3e030bdf03bd8c27b130cf043aabdef26d96e745..292f169bdd547887dd616deaaf450b0082f0ae71 100644
--- a/sot-pattern-generator-v3/Makefile
+++ b/sot-pattern-generator-v3/Makefile
@@ -1,36 +1,37 @@
-# robotpkg Makefile for: motion/sot-pattern-generator
+# robotpkg Makefile for: wip/sot-pattern-generator-v3
# Created: Olivier Stasse on Thu, 18 Apr 2013
#
-VERSION= 3.0.1
-DISTNAME= sot-pattern-generator-v3-${VERSION}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-pattern-generator-v3/}
-MASTER_REPOSITORY=\
- ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/sot-pattern-generator/
+ORG= stack-of-tasks
+NAME= sot-pattern-generator
+VERSION= 3.1.0
+
+DISTNAME= ${NAME}-${VERSION}
+PKGNAME= ${NAME}-v3-${VERSION}
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+= --recursive
-MAINTAINER= gepetto@laas.fr
CATEGORIES= wip
COMMENT= Walking Pattern Generator
-LICENSE= gnu-lgpl-v3
+LICENSE= 2-clause-bsd
+MAINTAINER= gepetto-soft@laas.fr
+
+CONFLICTS+= ${NAME}
-DYNAMIC_PLIST_DIRS+= share/doc/sot-pattern-generator
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-CMAKE_ARGS+= -DPYTHON_EXECUTABLE=${PYTHON}
-CMAKE_ARGS+= -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE}
-CMAKE_ARGS+= -DPYTHON_LIBRARY=${PYTHON_LIB}
-CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
+DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../math/pinocchio/depend.mk
include ../../wip/jrl-walkgen-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
-include ../../wip/sot-application-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
-include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/robotpkg.mk
diff --git a/sot-pattern-generator-v3/PLIST b/sot-pattern-generator-v3/PLIST
index 9686105350ad9133cfc50d920cac6b92940e1137..421356822c2a9daa041cf1caeb9778ef3790817d 100644
--- a/sot-pattern-generator-v3/PLIST
+++ b/sot-pattern-generator-v3/PLIST
@@ -5,68 +5,32 @@ include/sot-pattern-generator/warning.hh
lib/pkgconfig/sot-pattern-generator.pc
lib/plugin/exception-pg.so.${PKGVERSION}
lib/plugin/exception-pg.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/exception_pg/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/exception_pg/__init__.py
lib/plugin/next-step.so.${PKGVERSION}
lib/plugin/next-step.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/next_step/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/next_step/__init__.py
lib/plugin/step-observer.so.${PKGVERSION}
lib/plugin/step-observer.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_observer/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_observer/__init__.py
lib/plugin/step-computer-force.so.${PKGVERSION}
lib/plugin/step-computer-force.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_computer_force/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_computer_force/__init__.py
lib/plugin/step-computer-joystick.so.${PKGVERSION}
lib/plugin/step-computer-joystick.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_computer_joystick/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_computer_joystick/__init__.py
lib/plugin/step-computer-pos.so.${PKGVERSION}
lib/plugin/step-computer-pos.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_computer_pos/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_computer_pos/__init__.py
lib/plugin/which-foot-upper.so.${PKGVERSION}
lib/plugin/which-foot-upper.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/which_foot_upper/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/which_foot_upper/__init__.py
lib/plugin/step-queue.so.${PKGVERSION}
lib/plugin/step-queue.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_queue/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_queue/__init__.py
lib/plugin/selector.so.${PKGVERSION}
lib/plugin/selector.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/selector/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/selector/__init__.py
lib/plugin/step-checker.so.${PKGVERSION}
lib/plugin/step-checker.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_checker/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_checker/__init__.py
lib/plugin/next-step-pg-sot.so.${PKGVERSION}
lib/plugin/next-step-pg-sot.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/next_step_pg_sot/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/next_step_pg_sot/__init__.py
lib/plugin/pg-manager.so.${PKGVERSION}
lib/plugin/pg-manager.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/pg_manager/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/pg_manager/__init__.py
lib/plugin/step-time-line.so.${PKGVERSION}
lib/plugin/step-time-line.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_time_line/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/step_time_line/__init__.py
lib/plugin/pg.so.${PKGVERSION}
lib/plugin/pg.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/pg/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/pg/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/__init__.pyc
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/meta_selector.py
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/meta_selector.pyc
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/meta_pg.py
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/meta_pg.pyc
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/walking.py
-${PYTHON_SITELIB}/dynamic_graph/sot/pattern_generator/walking.pyc
include/sot-pattern-generator/next-step.h
include/sot-pattern-generator/exception-pg.h
include/sot-pattern-generator/next-step-pg-sot.h
@@ -82,4 +46,3 @@ include/sot-pattern-generator/step-computer-force.h
include/sot-pattern-generator/step-computer-joystick.h
include/sot-pattern-generator/step-computer-pos.h
include/sot-pattern-generator/which-foot-upper.h
-${PYTHON_SITELIB}/dynamic_graph/tutorial/walkromeo.py
diff --git a/sot-pattern-generator-v3/depend.mk b/sot-pattern-generator-v3/depend.mk
index 655d5e5d8edf864c7b297f2f66b600deb8db7734..7e98ec7de1d554b1d11be6de2851305f2f06aafd 100644
--- a/sot-pattern-generator-v3/depend.mk
+++ b/sot-pattern-generator-v3/depend.mk
@@ -1,4 +1,4 @@
-# robotpkg depend.mk for: motion/sot-pattern-generator
+# robotpkg depend.mk for: wip/sot-pattern-generator-v3
# Created: Olivier Stasse on Thu, 18 Apr 2013
#
@@ -14,13 +14,12 @@ ifeq (+,$(SOT_PATTERN_GENERATOR_V3_DEPEND_MK)) # ------------------------------
DEPEND_USE+= sot-pattern-generator-v3
PREFER.sot-pattern-generator-v3?= robotpkg
-DEPEND_ABI.sot-pattern-generator-v3?= sot-pattern-generator-v3>=3.0
+DEPEND_ABI.sot-pattern-generator-v3?= sot-pattern-generator-v3>=2.10
DEPEND_DIR.sot-pattern-generator-v3?= ../../wip/sot-pattern-generator-v3
SYSTEM_SEARCH.sot-pattern-generator-v3=\
include/sot-pattern-generator/pg.h \
lib/plugin/pg.so \
- 'lib/pkgconfig/sot-pattern-generator.pc:/Version/s/[^0-9.]//pg' \
- '${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/pattern_generator/__init__.py'
+ 'lib/pkgconfig/sot-pattern-generator.pc:/Version/s/[^0-9.]//pg'
include ../../mk/sysdep/python.mk
diff --git a/sot-pattern-generator-v3/distinfo b/sot-pattern-generator-v3/distinfo
index 9a823c86e1e1b4942107f7644a367d76e5261c0d..dc30cda3477a0c3b972d87858f0bec514e2301f0 100644
--- a/sot-pattern-generator-v3/distinfo
+++ b/sot-pattern-generator-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-pattern-generator-v3-3.0.1.tar.gz) = 7ea05506b2e677ce756b109e197762a70f58772f
-RMD160 (sot-pattern-generator-v3-3.0.1.tar.gz) = c45898d215fef5311e9e15c1c8a9492f3f396b69
-Size (sot-pattern-generator-v3-3.0.1.tar.gz) = 829201 bytes
+SHA1 (sot-pattern-generator-3.1.0.tar.gz) = dde74b7fe668b2d1ed0a6b2249f8de8caccef32f
+RMD160 (sot-pattern-generator-3.1.0.tar.gz) = 6463c19039fe6bfa0d2e2b784da3bec7eb083c02
+Size (sot-pattern-generator-3.1.0.tar.gz) = 840593 bytes