diff --git a/coldman-genom/Makefile b/coldman-genom/Makefile
index 2215e79a5c023bfe7e595cff1ed8e013b10dab99..54d7d0e01ea9d7189de500460e40911eb3352f5e 100644
--- a/coldman-genom/Makefile
+++ b/coldman-genom/Makefile
@@ -5,7 +5,7 @@
DISTNAME= coldman-genom-1.0
CATEGORIES= manipulation
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=coldman-genom/}
-MASTER_REPOSITORY= git ssh://trac/git/robots/coldman-genom
+MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/coldman-genom
MAINTAINER= xavier.broquere@laas.fr
diff --git a/coldman-libs/Makefile b/coldman-libs/Makefile
index 30916bd5c5bb2b6463e7d7f3a2f20f8b48068403..78ca5315e4d17dfd13d13da625addfae3ecaf0db 100644
--- a/coldman-libs/Makefile
+++ b/coldman-libs/Makefile
@@ -5,7 +5,7 @@
DISTNAME= coldman-libs-1.0
CATEGORIES= manipulation
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=coldman-libs/}
-MASTER_REPOSITORY= git ssh://trac/git/robots/coldman-libs
+MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/coldman-libs
MAINTAINER= xavier.broquere@laas.fr
diff --git a/gest-genom/Makefile b/gest-genom/Makefile
index c9d9aea65ba98376303c4815c275e6aa099d2773..42236f9c329dff9f6bc7a4da63bd1fdfdd8eb7c6 100644
--- a/gest-genom/Makefile
+++ b/gest-genom/Makefile
@@ -5,7 +5,7 @@
DISTNAME= gest-genom-1.0
CATEGORIES= image
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=gest-genom/}
-MASTER_REPOSITORY= git ssh://softs/git/robots/gest-genom
+MASTER_REPOSITORY= git ssh://softs.laas.fr/git/robots/gest-genom
MAINTAINER= openrobots@laas.fr
COMMENT= GeNoM module for human posture recognition, based on skin patches detection
diff --git a/lwr-genom/Makefile b/lwr-genom/Makefile
index f6ed89514acafe46383594557ff7249b922e495f..62a953de72760bfd8cf97416c836b0d1c09dbe30 100644
--- a/lwr-genom/Makefile
+++ b/lwr-genom/Makefile
@@ -5,7 +5,7 @@
DISTNAME= lwr-genom-1.0
CATEGORIES= manipulation
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=lwr-genom/}
-MASTER_REPOSITORY= git ssh://trac/git/robots/lwr-genom
+MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/lwr-genom
MAINTAINER= xavier.broquere@laas.fr
COMMENT= Genom module for the KuKa arm
diff --git a/mhp-genom/Makefile b/mhp-genom/Makefile
index 67bda86731f5ce28b5b9ea3374905a1630d680db..8c9b043f0626d162693e415a7275b19f580647b6 100644
--- a/mhp-genom/Makefile
+++ b/mhp-genom/Makefile
@@ -5,7 +5,7 @@
DISTNAME= mhp-genom-2.5.1
CATEGORIES= path
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=mhp-genom/}
-MASTER_REPOSITORY= git ssh://softs/git/robots/mhp-genom
+MASTER_REPOSITORY= git ssh://softs.laas.fr/git/robots/mhp-genom
MAINTAINER= easisbot@laas.fr
COMMENT= Motion in Human Presence module
diff --git a/pqp-libs/Makefile b/pqp-libs/Makefile
index 5da0e5646331168539b690ce2a852b1594d42a80..decb1daf010754fd49a0573d7eacf9883759b229 100644
--- a/pqp-libs/Makefile
+++ b/pqp-libs/Makefile
@@ -7,7 +7,7 @@
DISTNAME= pqp-libs-1.1
CATEGORIES= manipulation
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=pqp-libs/}
-MASTER_REPOSITORY= git ssh://trac/git/robots/pqp-libs
+MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/pqp-libs
MAINTAINER= openrobots@laas.fr
HOMEPAGE= http://gamma.cs.unc.edu/SSV/
diff --git a/spark-genom/Makefile b/spark-genom/Makefile
index b5274bf74982c7b3fce7490a3e5ffbf8d1b0690d..f2216c3d3b1f3473a1025e3671792e8c5e82df65 100644
--- a/spark-genom/Makefile
+++ b/spark-genom/Makefile
@@ -4,7 +4,7 @@
DISTNAME= spark-genom-1.0
CATEGORIES= knowledge
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=spark-genom/}
-MASTER_REPOSITORY= git ssh://softs/git/robots/spark-genom
+MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/spark-genom
MAINTAINER= easisbot@laas.fr
COMMENT= Spatial Reasoning and Knowledge module
@@ -20,13 +20,13 @@ USE_LANGUAGES+= c c++
#### SPARK OPTIONS ####
#######################
-PKG_OPTIONS_REQUIRED_GROUPS= robot
-PKG_OPTIONS_GROUP.robot= hrp2 jido simulation
+PKG_OPTIONS_NONEMPTY_SETS= robot
+PKG_OPTIONS_SET.robot= hrp2 pr2 jido simulation
##
## HRP2
##
-PKG_OPTION_DESCR.hrp2= Compile SPARK for HRP2
+PKG_OPTION_DESCR.hrp2= Compile SPARK with support for HRP2
define PKG_OPTION_SET.hrp2
GENOM_ARGS+= -DHRP2
@@ -34,10 +34,19 @@ define PKG_OPTION_SET.hrp2
include ../../image/viman-genom/depend.mk
endef
+##
+## PR2
+##
+PKG_OPTION_DESCR.pr2= Compile SPARK with support for PR2
+
+define PKG_OPTION_SET.pr2
+ GENOM_ARGS+= -DPR2
+endef
+
##
## Jido
##
-PKG_OPTION_DESCR.jido= Compile SPARK for Jido
+PKG_OPTION_DESCR.jido= Compile SPARK with support for Jido
define PKG_OPTION_SET.jido
GENOM_ARGS+= -DJIDO