diff --git a/sot-core-v3/Makefile b/sot-core-v3/Makefile
index 70233123d02d0bffce494fdf4fd748f22b2019ab..b9fefea0b804c80afc6f9b2e1c96e2193da88c2d 100644
--- a/sot-core-v3/Makefile
+++ b/sot-core-v3/Makefile
@@ -1,46 +1,38 @@
-# robotpkg Makefile for: motion/sot-core3
+# robotpkg Makefile for: wip/sot-core-v3
# Created: Rohan Budhiraja on Wed Dec 16 15:33:40 CET 2015
#
-PKGNAME= sot-core-v3-${VERSION}
-DISTNAME= sot-core-v3-${VERSION}
-VERSION= 3.1.9
-PKGREVISION= 1
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-core-v3/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/sot-core
-CHECKOUT_VCS_OPTS= --recursive
+ORG= stack-of-tasks
+NAME= sot-core
+VERSION= 3.2.0
+DISTNAME= ${NAME}-${VERSION}
+PKGNAME= ${NAME}-v3-${VERSION}
-MAINTAINER= gepetto@laas.fr
-CATEGORIES= wip
-COMMENT= Hierarchical task based control of humanoid robots
-LICENSE= gnu-lgpl-v3
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+= --recursive
-WRKSRC= ${WRKDIR}/${DISTNAME:a=}
+CATEGORIES= wip
+COMMENT= Hierarchical task based control of humanoid robots
+LICENSE= 2-clause-bsd
+MAINTAINER= gepetto-soft@laas.fr
-DYNAMIC_PLIST_DIRS+= share/doc/sot-core
+CONFLICTS+= ${NAME}
-CMAKE_ARGS+= -DPYTHON_EXECUTABLE=${PYTHON}
-CMAKE_ARGS+= -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE}
-CMAKE_ARGS+= -DPYTHON_LIBRARY=${PYTHON_LIB}
-CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
+DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
+
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../math/eigen3/depend.mk
-include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/dynamic-graph-v3/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/sysdep/py-sphinx.mk
-include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/robotpkg.mk
-
-pre-configure:
- ${RUN}${MKDIR} ${WRKSRC}/_build
diff --git a/sot-core-v3/PLIST b/sot-core-v3/PLIST
index 642459701f8ea51d4b14d992700c5d3c8585a4e5..71f7fb02c95063e3a1c5387c9055719285a130c1 100644
--- a/sot-core-v3/PLIST
+++ b/sot-core-v3/PLIST
@@ -180,122 +180,3 @@ lib/plugin/vector-to-rotation.so
lib/plugin/vector-to-rotation.so.${PKGVERSION}
lib/plugin/visual-point-projecter.so
lib/plugin/visual-point-projecter.so.${PKGVERSION}
-${PYTHON_SITELIB}/dynamic_graph/sot/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/binary_int_to_uint/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/binary_int_to_uint/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/clamp_workspace/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/clamp_workspace/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/com_freezer/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/com_freezer/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/constraint/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/constraint/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/control_gr/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/control_gr/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/control_pd/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/control_pd/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/derivator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/derivator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/event/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/event/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_1d/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_1d/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_generic/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_generic/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_joint_limits/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_joint_limits/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_line_distance/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_line_distance/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_point6d/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_point6d/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_point6d_relative/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_point6d_relative/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_position.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_position_relative.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_posture/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_posture/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_task/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_task/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_vector3/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_vector3/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_visual_point/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/feature_visual_point/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/fir_filter/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/fir_filter/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/gain_adaptive/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/gain_adaptive/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/gain_hyperbolic/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/gain_hyperbolic/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/gripper_control/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/gripper_control/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/integrator_abstract/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/integrator_abstract/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/integrator_euler/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/integrator_euler/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/joint_limitator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/joint_limitator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/joint_trajectory_entity/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/joint_trajectory_entity/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/kalman/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/kalman/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/latch/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/latch/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/mailbox_vector/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/mailbox_vector/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/math_small_entities.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/matrix_constant/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/matrix_constant/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/matrix_util.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/meta_task_6d.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/meta_task_posture.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/meta_task_visual_point.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/meta_tasks.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/meta_tasks_kine.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/meta_tasks_kine_relative.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/motion_period/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/motion_period/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/neck_limitation/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/neck_limitation/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/op_point_modifier/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/op_point_modifier/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/operator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/operator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/periodic_call_entity/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/periodic_call_entity/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/reader/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/reader/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/robot_simu/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/robot_simu/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/seq_play/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/seq_play/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/sequencer/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/sequencer/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/sot/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/sot/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/switch/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/switch/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task_conti/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task_conti/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task_pd/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task_pd/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task_unilateral/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/task_unilateral/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/time_stamp/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/time_stamp/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/timer/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/timer/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/utils/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/utils/attime.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/utils/history.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/utils/thread_interruptible_loop.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/utils/viewer_helper.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/utils/viewer_loger.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/vector_constant/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/vector_constant/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/vector_to_rotation/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/vector_to_rotation/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/visual_point_projecter/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/core/visual_point_projecter/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/core/wrap.so
diff --git a/sot-core-v3/depend.mk b/sot-core-v3/depend.mk
index a7f8a30bffda34298558b3fc3c82b7f2f51091a2..df8b7cf62b559bd7add3b19cc37e689d45459765 100644
--- a/sot-core-v3/depend.mk
+++ b/sot-core-v3/depend.mk
@@ -1,4 +1,4 @@
-# robotpkg depend.mk for: wip/sot-core
+# robotpkg depend.mk for: wip/sot-core-v3
# Created: Rohan Budhiraja on Thu, 17 Dec 2015
#
diff --git a/sot-core-v3/distinfo b/sot-core-v3/distinfo
index 7a0b545073e0df2c9f910ef2556e91bf54e31287..f35513dd9fcc770662529fbedc236880ceba1d29 100644
--- a/sot-core-v3/distinfo
+++ b/sot-core-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-core-v3-3.1.9.tar.gz) = a656f37a5c430b4a1dfc804bbc27fd5599e9972f
-RMD160 (sot-core-v3-3.1.9.tar.gz) = bb9e509fc255081e68b9e663a62b6dacb1dbf7d1
-Size (sot-core-v3-3.1.9.tar.gz) = 1044174 bytes
+SHA1 (sot-core-3.2.0.tar.gz) = fdba4a6febb240904872a519de9a613f44645d84
+RMD160 (sot-core-3.2.0.tar.gz) = ce5f4378feff289536b06e269750243ae2a1d3b7
+Size (sot-core-3.2.0.tar.gz) = 1070131 bytes