diff --git a/Makefile b/Makefile
index baaa73d410afe8b0c1c8c2903474a40e1a3a6fa4..53df8db0458156f2e7844ba3e5f54999ecf696a0 100644
--- a/Makefile
+++ b/Makefile
@@ -111,6 +111,7 @@ SUBDIR+=	talos-ros-control
 SUBDIR+= 	talos-ros-controllers
 SUBDIR+=	talos-ros-control-sot
 SUBDIR+=	talos-simulation
+SUBDIR+=	tsid
 SUBDIR+= 	track-target-genom
 SUBDIR+= 	urg
 SUBDIR+= 	vnet-yarp
diff --git a/tsid/DESCR b/tsid/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..a5ce9e05606277ae19d582798127c675ed8ec1c0
--- /dev/null
+++ b/tsid/DESCR
@@ -0,0 +1 @@
+This package provides an efficient library to compute rigid multibody dynamics.
diff --git a/tsid/Makefile b/tsid/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a91a549a8edbf1ec8c4b3d72ed773702956e9aff
--- /dev/null
+++ b/tsid/Makefile
@@ -0,0 +1,41 @@
+# robotpkg Makefile for:	math/tsid
+# Created:			Justin Carpentier on Thu, 16 June 2017
+#
+
+VERSION=		1.0.0
+DISTNAME=		tsid-${VERSION}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=${PKGBASE}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/${PKGBASE}
+
+MAINTAINER=		gepetto@laas.fr
+CATEGORIES=		math
+COMMENT=		Efficient Inverse Dynamics based on Pinocchio
+LICENSE=		gnu-lgpl-v3
+
+# parallel builds would consume all memory because of the g++ process size
+MAKE_JOBS_SAFE=		no
+
+DYNAMIC_PLIST_DIRS+=	share/doc/${PKGBASE}
+
+CMAKE_ARGS+=    -DCMAKE_INSTALL_LIBDIR=lib
+
+CMAKE_ARGS+=		-DBUILD_UNIT_TESTS=ON
+CMAKE_ARGS+=    -DINSTALL_DOCUMENTATION=OFF
+
+USE_BOOST_LIBS=		unit_test_framework
+
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../wip/pinocchio/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+
+DEPEND_ABI.python +=		python<3
+DEPEND_ABI.pinocchio +=	pinocchio>=1.2.4
+
+include ../../mk/robotpkg.mk
diff --git a/tsid/PLIST b/tsid/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..c4945247185cffdb8e61e34005138fb0e3ef6356
--- /dev/null
+++ b/tsid/PLIST
@@ -0,0 +1,136 @@
+@comment Tue Dec 6 12:22:05 CET 2016
+include/pinocchio/algorithm/aba.hpp
+include/pinocchio/algorithm/aba.hxx
+include/pinocchio/algorithm/center-of-mass.hpp
+include/pinocchio/algorithm/center-of-mass.hxx
+include/pinocchio/algorithm/check.hpp
+include/pinocchio/algorithm/check.hxx
+include/pinocchio/algorithm/cholesky.hpp
+include/pinocchio/algorithm/cholesky.hxx
+include/pinocchio/algorithm/compute-all-terms.hpp
+include/pinocchio/algorithm/copy.hpp
+include/pinocchio/algorithm/crba.hpp
+include/pinocchio/algorithm/crba.hxx
+include/pinocchio/algorithm/default-check.hpp
+include/pinocchio/algorithm/dynamics.hpp
+include/pinocchio/algorithm/energy.hpp
+include/pinocchio/algorithm/finite-differences.hpp
+include/pinocchio/algorithm/finite-differences.hxx
+include/pinocchio/algorithm/frames.hpp
+include/pinocchio/algorithm/geometry.hpp
+include/pinocchio/algorithm/geometry.hxx
+include/pinocchio/algorithm/jacobian.hpp
+include/pinocchio/algorithm/jacobian.hxx
+include/pinocchio/algorithm/joint-configuration.hpp
+include/pinocchio/algorithm/kinematics.hpp
+include/pinocchio/algorithm/kinematics.hxx
+include/pinocchio/algorithm/rnea.hpp
+include/pinocchio/algorithm/rnea.hxx
+include/pinocchio/assert.hpp
+include/pinocchio/bindings/python/algorithm/algorithms.hpp
+include/pinocchio/bindings/python/fwd.hpp
+include/pinocchio/bindings/python/multibody/data.hpp
+include/pinocchio/bindings/python/multibody/fcl/collision-geometry.hpp
+include/pinocchio/bindings/python/multibody/fcl/collision-result.hpp
+include/pinocchio/bindings/python/multibody/fcl/contact.hpp
+include/pinocchio/bindings/python/multibody/frame.hpp
+include/pinocchio/bindings/python/multibody/geometry-data.hpp
+include/pinocchio/bindings/python/multibody/geometry-model.hpp
+include/pinocchio/bindings/python/multibody/geometry-object.hpp
+include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
+include/pinocchio/bindings/python/multibody/joint/joint.hpp
+include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
+include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
+include/pinocchio/bindings/python/multibody/model.hpp
+include/pinocchio/bindings/python/parsers/parsers.hpp
+include/pinocchio/bindings/python/spatial/explog.hpp
+include/pinocchio/bindings/python/spatial/force.hpp
+include/pinocchio/bindings/python/spatial/inertia.hpp
+include/pinocchio/bindings/python/spatial/motion.hpp
+include/pinocchio/bindings/python/spatial/se3.hpp
+include/pinocchio/bindings/python/utils/copyable.hpp
+include/pinocchio/bindings/python/utils/eigen_container.hpp
+include/pinocchio/bindings/python/utils/handler.hpp
+include/pinocchio/bindings/python/utils/printable.hpp
+include/pinocchio/bindings/python/utils/std-aligned-vector.hpp
+include/pinocchio/bindings/python/utils/std-vector.hpp
+include/pinocchio/config.hh
+include/pinocchio/container/aligned-vector.hpp
+include/pinocchio/deprecated.hh
+include/pinocchio/exception.hpp
+include/pinocchio/math/fwd.hpp
+include/pinocchio/math/matrix.hpp
+include/pinocchio/math/quaternion.hpp
+include/pinocchio/math/sincos.hpp
+include/pinocchio/multibody/constraint.hpp
+include/pinocchio/multibody/fcl.hpp
+include/pinocchio/multibody/fcl.hxx
+include/pinocchio/multibody/force-set.hpp
+include/pinocchio/multibody/frame.hpp
+include/pinocchio/multibody/fwd.hpp
+include/pinocchio/multibody/geometry.hpp
+include/pinocchio/multibody/geometry.hxx
+include/pinocchio/multibody/joint/fwd.hpp
+include/pinocchio/multibody/joint/joint-base.hpp
+include/pinocchio/multibody/joint/joint-basic-visitors.hpp
+include/pinocchio/multibody/joint/joint-basic-visitors.hxx
+include/pinocchio/multibody/joint/joint-composite.hpp
+include/pinocchio/multibody/joint/joint-free-flyer.hpp
+include/pinocchio/multibody/joint/joint-planar.hpp
+include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+include/pinocchio/multibody/joint/joint-prismatic.hpp
+include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
+include/pinocchio/multibody/joint/joint-revolute.hpp
+include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
+include/pinocchio/multibody/joint/joint-spherical.hpp
+include/pinocchio/multibody/joint/joint-translation.hpp
+include/pinocchio/multibody/joint/joint-variant.hpp
+include/pinocchio/multibody/joint/joint.hpp
+include/pinocchio/multibody/liegroup/cartesian-product.hpp
+include/pinocchio/multibody/liegroup/liegroup.hpp
+include/pinocchio/multibody/liegroup/operation-base.hpp
+include/pinocchio/multibody/liegroup/operation-base.hxx
+include/pinocchio/multibody/liegroup/special-euclidean.hpp
+include/pinocchio/multibody/liegroup/special-orthogonal.hpp
+include/pinocchio/multibody/liegroup/vector-space.hpp
+include/pinocchio/multibody/model.hpp
+include/pinocchio/multibody/model.hxx
+include/pinocchio/multibody/visitor.hpp
+include/pinocchio/parsers/python.hpp
+include/pinocchio/parsers/sample-models.hpp
+include/pinocchio/parsers/srdf.hpp
+include/pinocchio/parsers/urdf.hpp
+include/pinocchio/parsers/urdf/types.hpp
+include/pinocchio/parsers/urdf/utils.hpp
+include/pinocchio/parsers/utils.hpp
+include/pinocchio/spatial/act-on-set.hpp
+include/pinocchio/spatial/explog.hpp
+include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+include/pinocchio/spatial/force.hpp
+include/pinocchio/spatial/fwd.hpp
+include/pinocchio/spatial/inertia.hpp
+include/pinocchio/spatial/motion.hpp
+include/pinocchio/spatial/se3.hpp
+include/pinocchio/spatial/skew.hpp
+include/pinocchio/spatial/symmetric3.hpp
+include/pinocchio/tools/file-explorer.hpp
+include/pinocchio/tools/string-generator.hpp
+include/pinocchio/tools/timer.hpp
+include/pinocchio/warning.hh
+lib/libpinocchio.so
+lib/pkgconfig/pinocchio.pc
+lib/pkgconfig/pinocchiopy.pc
+${PYTHON_SITELIB}/pinocchio/libpinocchio_pywrap.so
+${PYTHON_SITELIB}/pinocchio/__init__.py
+${PYTHON_SITELIB}/pinocchio/explog.py
+${PYTHON_SITELIB}/pinocchio/robot_wrapper.py
+${PYTHON_SITELIB}/pinocchio/romeo_wrapper.py
+${PYTHON_SITELIB}/pinocchio/rpy.py
+${PYTHON_SITELIB}/pinocchio/utils.py
+${PYTHON_SITELIB}/pinocchio/__init__.pyc
+${PYTHON_SITELIB}/pinocchio/explog.pyc
+${PYTHON_SITELIB}/pinocchio/robot_wrapper.pyc
+${PYTHON_SITELIB}/pinocchio/romeo_wrapper.pyc
+${PYTHON_SITELIB}/pinocchio/rpy.pyc
+${PYTHON_SITELIB}/pinocchio/utils.pyc
diff --git a/tsid/depend.mk b/tsid/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..c3c769dbb759d80090a6feac60515289c617718c
--- /dev/null
+++ b/tsid/depend.mk
@@ -0,0 +1,26 @@
+# robotpkg depend.mk for:	math/tsid
+# Created:			Justin Carpentier on Thu, 16 June 2017
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+TSID_DEPEND_MK:=	${TSID_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		tsid
+endif
+
+ifeq (+,$(TSID_DEPEND_MK)) # ------------------------------------------
+
+PREFER.tsid?=	robotpkg
+
+SYSTEM_SEARCH.tsid=\
+  'lib/pkgconfig/tsid.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		tsid
+
+DEPEND_ABI.tsid?=	tsid>=1.1.2
+DEPEND_DIR.tsid?=	../../wip/tsid
+
+endif # TSID_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/tsid/distinfo b/tsid/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..cf01e33f3d7323439986f9d52645071b3511e989
--- /dev/null
+++ b/tsid/distinfo
@@ -0,0 +1,4 @@
+SHA1 (pinocchio-1.2.4.tar.gz) = 37c966e31fff360d07936012094ff5d53df5fa2c
+RMD160 (pinocchio-1.2.4.tar.gz) = d47b71bbfaf05e6f254781915ff1a0f005a27f25
+Size (pinocchio-1.2.4.tar.gz) = 8992990 bytes
+SHA1 (patch-aa) = ef0ea5662acf1b226fee7232d6bbcc4fdae3abd9