diff --git a/sot-dynamic-pinocchio/DESCR b/sot-dynamic-pinocchio/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..b021b9de60cf54ae6cbc894ca0993703f8a77d34
--- /dev/null
+++ b/sot-dynamic-pinocchio/DESCR
@@ -0,0 +1 @@
+Hierarchical task based control of humanoid robots
diff --git a/sot-dynamic-pinocchio/Makefile b/sot-dynamic-pinocchio/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..56b448adc3204df37fe73c7d56b8c567e4e55be5
--- /dev/null
+++ b/sot-dynamic-pinocchio/Makefile
@@ -0,0 +1,41 @@
+# robotpkg Makefile for:	wip/sot-dynamic-pinocchio
+# Created:			Rohan Budhiraja on Fri, 8 Apr 2016
+#
+
+VERSION=		3.1.0
+DISTNAME=		sot-dynamic-${VERSION}
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-dynamic/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}proyan/sot-dynamic/tree/topic/sot-pinocchio
+
+MAINTAINER=	gepetto@laas.fr
+CATEGORIES=	motion
+LICENSE=	gnu-lgpl-v3
+COMMENT=	Create entities to compute a robot dynamics properties
+
+DYNAMIC_PLIST_DIRS+=	share/doc/sot-dynamic
+CMAKE_ARGS+=		-DPYTHON_SITELIB=${PYTHON_SITELIB}
+CMAKE_ARGS+=		-DPYTHON_INCLUDE_PATH=${PYTHON_INCLUDE}
+CMAKE_ARGS+=		-DPYTHON_LIBRARY=${PYTHON_LIB}
+CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+
+# Build the package in a separate directory
+CONFIGURE_DIRS=		_build
+CMAKE_ARG_PATH=		..
+
+pre-configure:
+	${RUN}${MKDIR} ${WRKSRC}/_build
+
+DEPEND_ABI.python+= python<3.0
+
+include ../../wip/pinocchio/depend.mk
+include ../../wip/py-sot-tools2/depend.mk
+include ../../wip/sot-core3/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/pdflatex.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/sot-dynamic-pinocchio/PLIST b/sot-dynamic-pinocchio/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..f8a0501ad1ffdf3dcf12edd679cbd6ca5ec2d8a2
--- /dev/null
+++ b/sot-dynamic-pinocchio/PLIST
@@ -0,0 +1,63 @@
+@comment Fri Dec 6 09:25:38 CET 2013
+include/sot-dynamic/angle-estimator.h
+include/sot-dynamic/config.h
+include/sot-dynamic/config.hh
+include/sot-dynamic/deprecated.hh
+include/sot-dynamic/dynamic.h
+include/sot-dynamic/force-compensation.h
+include/sot-dynamic/integrator-force-exact.h
+include/sot-dynamic/integrator-force-rk4.h
+include/sot-dynamic/integrator-force.h
+include/sot-dynamic/mass-apparent.h
+include/sot-dynamic/matrix-inertia.h
+include/sot-dynamic/waist-attitude-from-sensor.h
+include/sot-dynamic/warning.hh
+include/sot-dynamic/zmpreffromcom.h
+lib/libsot-dynamic.so
+lib/pkgconfig/sot-dynamic.pc
+lib/plugin/angle-estimator.so
+lib/plugin/angle-estimator.so.${PKGVERSION}
+lib/plugin/dynamic.so
+lib/plugin/dynamic.so.${PKGVERSION}
+lib/plugin/force-compensation.so
+lib/plugin/force-compensation.so.${PKGVERSION}
+lib/plugin/integrator-force-exact.so
+lib/plugin/integrator-force-exact.so.${PKGVERSION}
+lib/plugin/integrator-force-rk4.so
+lib/plugin/integrator-force-rk4.so.${PKGVERSION}
+lib/plugin/integrator-force.so
+lib/plugin/integrator-force.so.${PKGVERSION}
+lib/plugin/mass-apparent.so
+lib/plugin/mass-apparent.so.${PKGVERSION}
+lib/plugin/waist-attitude-from-sensor.so
+lib/plugin/waist-attitude-from-sensor.so.${PKGVERSION}
+lib/plugin/zmp-from-forces.so
+lib/plugin/zmp-from-forces.so.${PKGVERSION}
+lib/plugin/zmpreffromcom.so
+lib/plugin/zmpreffromcom.so.${PKGVERSION}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/angle_estimator/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/angle_estimator/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/dynamic/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/dynamic/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/force_compensation/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/force_compensation/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/humanoid_robot.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_exact/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_exact/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_rk4/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_rk4/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/mass_apparent/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/mass_apparent/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/parser.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/tools.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/waist_attitude_from_sensor/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/waist_attitude_from_sensor/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmp_from_forces/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmp_from_forces/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmpreffromcom/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmpreffromcom/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo.py
+${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo_small.py
diff --git a/sot-dynamic-pinocchio/depend.mk b/sot-dynamic-pinocchio/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..444383d874f551b152c1c73b596b8cafea07d6b2
--- /dev/null
+++ b/sot-dynamic-pinocchio/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg Makefile for:	wip/sot-dynamic-pinocchio
+# Created:			Rohan Budhiraja on Fri, 8 Apr 2016
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+SOT_DYNAMIC_DEPEND_MK:=	${SOT_DYNAMIC_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		sot-dynamic
+endif
+
+ifeq (+,$(SOT_DYNAMIC_DEPEND_MK)) # --------------------------------------
+
+PREFER.sot-dynamic?=	robotpkg
+
+SYSTEM_SEARCH.sot-dynamic=\
+	include/sot-dynamic/dynamic.h \
+	'lib/pkgconfig/sot-dynamic.pc:Version/s/[^0-9.]//gp' \
+	lib/plugin/dynamic.so
+
+DEPEND_USE+=		sot-dynamic
+
+DEPEND_ABI.sot-dynamic?=	sot-dynamic>=3.1
+DEPEND_DIR.sot-dynamic?=	../../wip/sot-dynamic-pinocchio
+
+endif # SOT_DYNAMIC_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/sot-dynamic-pinocchio/distinfo b/sot-dynamic-pinocchio/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..2471ba77067dadfbf3e5e601e7b4e5abfbb63402
--- /dev/null
+++ b/sot-dynamic-pinocchio/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-dynamic-3.1.0.tar.gz) = 49fe714134fd29a27b2a5606bce9b529587c814b
+RMD160 (sot-dynamic-3.1.0.tar.gz) = 5c4da6d0a6add13c937d76312cae6711f271b80e
+Size (sot-dynamic-3.1.0.tar.gz) = 171736 bytes