diff --git a/Makefile b/Makefile
index 73cd4fe85ba074dfcf08ba1526850766813597e6..ec795449bea7c644cbd44694406d66402c1f52da 100644
--- a/Makefile
+++ b/Makefile
@@ -22,6 +22,7 @@ SUBDIR+= gerard-bauzil
SUBDIR+= hatponboard-lib
SUBDIR+= head-action
SUBDIR+= histodet
+SUBDIR+= hpp-bezier-com-traj
SUBDIR+= hpp-centroidal-dynamics
SUBDIR+= hpp-environments
SUBDIR+= hpp-rbprm-robot-data
diff --git a/hpp-bezier-com-traj/DESCR b/hpp-bezier-com-traj/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..caa92b9a9703496c8fc52cc96853551be05eade4
--- /dev/null
+++ b/hpp-bezier-com-traj/DESCR
@@ -0,0 +1 @@
+Multi contact trajectory generation for the COM using Bezier curves
diff --git a/hpp-bezier-com-traj/Makefile b/hpp-bezier-com-traj/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..4c0b6883a5762786d9c7ecdd9f630dc7a1437087
--- /dev/null
+++ b/hpp-bezier-com-traj/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for: wip/hpp-bezier-com-traj
+# Created: Guilhem Saurel on Fri, 4 Jan 2019
+#
+
+HPP_PACKAGE= hpp-bezier-com-traj
+HPP_COMMENT= trajectory generation for the COM with bezier curves
+
+CATEGORIES= wip
+
+DEPEND_ABI.python+= python<3
+
+USE_BOOST_LIBS= python
+
+include ../../meta-pkgs/hpp/Makefile.common
+
+include ../../wip/hpp-spline/depend.mk
+include ../../wip/hpp-centroidal-dynamics/depend.mk
+
+include ../../math/py-eigenpy/depend.mk
+include ../../math/eigen3/depend.mk
+
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/hpp-bezier-com-traj/PLIST b/hpp-bezier-com-traj/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..52c865544bf657cc865fb3ddefa82a783cd2475d
--- /dev/null
+++ b/hpp-bezier-com-traj/PLIST
@@ -0,0 +1,26 @@
+@comment Fri Jan 4 15:44:04 CET 2019
+include/hpp/bezier-com-traj/common_solve_methods.hh
+include/hpp/bezier-com-traj/common_solve_methods.inl
+include/hpp/bezier-com-traj/config.hh
+include/hpp/bezier-com-traj/cost/costfunction_definition.hh
+include/hpp/bezier-com-traj/data.hh
+include/hpp/bezier-com-traj/definitions.hh
+include/hpp/bezier-com-traj/deprecated.hh
+include/hpp/bezier-com-traj/flags.hh
+include/hpp/bezier-com-traj/local_config.hh
+include/hpp/bezier-com-traj/solve.hh
+include/hpp/bezier-com-traj/solve_end_effector.hh
+include/hpp/bezier-com-traj/solver/eiquadprog-fast.hpp
+include/hpp/bezier-com-traj/solver/solver-abstract.hpp
+include/hpp/bezier-com-traj/utils.hh
+include/hpp/bezier-com-traj/warning.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_c1.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_dc1_c1.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_c1.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
+include/hpp/bezier-com-traj/waypoints/waypoints_definition.hh
+lib/libhpp-bezier-com-traj.so
+lib/pkgconfig/hpp-bezier-com-traj.pc
+${PYTHON_SITELIB}/hpp_bezier_com_traj.so
diff --git a/hpp-bezier-com-traj/depend.mk b/hpp-bezier-com-traj/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..35b342aa4b3e1061726fe410f6af34024aaf9042
--- /dev/null
+++ b/hpp-bezier-com-traj/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for: wip/hpp-bezier-com-traj
+# Created: Guilhem Saurel on Fri, 19 Oct 2018
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+HPP_BEZIER_COM_TRAJ_DEPEND_MK:= ${HPP_BEZIER_COM_TRAJ_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= hpp-bezier-com-traj
+endif
+
+ifeq (+,$(HPP_BEZIER_COM_TRAJ_DEPEND_MK)) # --------------------------------------
+
+PREFER.hpp-bezier-com-traj?= robotpkg
+
+DEPEND_USE+= hpp-bezier-com-traj
+
+DEPEND_ABI.hpp-bezier-com-traj?= hpp-bezier-com-traj>=4.2.0
+DEPEND_DIR.hpp-bezier-com-traj?= ../../wip/hpp-bezier-com-traj
+
+SYSTEM_SEARCH.hpp-bezier-com-traj=\
+ include/hpp/bezier-com-traj/config.hh \
+ lib/libhpp-bezier-com-traj.so \
+ 'lib/pkgconfig/hpp-bezier-com-traj.pc:/Version/s/[^0-9.]//gp'
+
+endif # HPP_BEZIER_COM_TRAJ_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/hpp-bezier-com-traj/distinfo b/hpp-bezier-com-traj/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..fad90532a9d89ddc2ef259c82f4bb769456feefa
--- /dev/null
+++ b/hpp-bezier-com-traj/distinfo
@@ -0,0 +1,4 @@
+SHA1 (hpp-bezier-com-traj-4.3.0.tar.gz) = aca95ec2ee260cfeb6ec6c57ff202543b579a177
+RMD160 (hpp-bezier-com-traj-4.3.0.tar.gz) = 906ecf72ece11a6a8e66a2d28f694249c2bd91a2
+Size (hpp-bezier-com-traj-4.3.0.tar.gz) = 842378 bytes
+SHA1 (patch-aa) = 34d64998ab79d8e6dc52c788ca44d967df0f8e06
diff --git a/hpp-bezier-com-traj/patches/patch-aa b/hpp-bezier-com-traj/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..5055a3c3ce8e0131e44649ea7c45edaf1c160856
--- /dev/null
+++ b/hpp-bezier-com-traj/patches/patch-aa
@@ -0,0 +1,35 @@
+cdd headers ar in /usr/include in ArchLinux, /usr/include/cdd in Ubuntu and /usr/include/cddlib in Fedora
+
+--- cmake2/FindCDD.cmake.orig 2019-01-29 15:13:37.000000000 +0100
++++ cmake2/FindCDD.cmake 2019-01-31 10:33:17.193453803 +0100
+@@ -6,8 +6,8 @@
+ # CDD_DEFINITIONS - Compiler switches required for using CDD
+
+
+-find_path(CDD_INCLUDE_DIR cdd/cdd.h
+- HINTS ${CDD_INCLUDEDIR} /usr/include
++find_path(CDD_INCLUDE_DIR cdd.h
++ HINTS ${CDD_INCLUDEDIR} /usr/include /usr/include/cdd /usr/include/cddlib
+ PATH_SUFFIXES CDD )
+
+ find_library(CDD_LIBRARY NAMES libcdd.so
+--- src/CMakeLists.txt.orig 2019-01-05 01:53:00.000000000 +0100
++++ src/CMakeLists.txt 2019-01-31 22:19:07.673417759 +0100
+@@ -19,6 +19,7 @@
+ endif(USE_GLPK)
+
+ ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
++TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PUBLIC ${CDD_INCLUDE_DIRS})
+
+ if (USE_GLPK)
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${GLPK_LIB})
+--- CMakeLists.txt.orig 2019-01-05 01:53:00.000000000 +0100
++++ CMakeLists.txt 2019-01-31 22:25:41.837406946 +0100
+@@ -41,6 +41,7 @@
+ ADD_REQUIRED_DEPENDENCY(eigen3)
+ ADD_REQUIRED_DEPENDENCY(hpp-centroidal-dynamics)
+ ADD_REQUIRED_DEPENDENCY(hpp-spline)
++find_package(CDD REQUIRED)
+ IF(USE_GLPK)
+ find_package (glpk REQUIRED)
+ add_definitions ( -DUSE_GLPK_SOLVER=1)
diff --git a/hpp-centroidal-dynamics/depend.mk b/hpp-centroidal-dynamics/depend.mk
index b3355ea4e318ee4a3dea3b7b5d6684cc5fa8e3c4..b80bb640a017f4dc681fef33b071b9c629ff726e 100644
--- a/hpp-centroidal-dynamics/depend.mk
+++ b/hpp-centroidal-dynamics/depend.mk
@@ -20,7 +20,7 @@ DEPEND_DIR.hpp-centroidal-dynamics?= ../../wip/hpp-centroidal-dynamics
SYSTEM_SEARCH.hpp-centroidal-dynamics=\
include/hpp/centroidal-dynamics/config.hh \
- lib/hpp-centroidal-dynamics.so \
+ lib/libhpp-centroidal-dynamics.so \
'lib/pkgconfig/hpp-centroidal-dynamics.pc:/Version/s/[^0-9.]//gp'
endif # HPP_CENTROIDAL_DYNAMICS_DEPEND_MK --------------------------------------------