diff --git a/Makefile b/Makefile
index 093ab243368c757859add47b598ceede78d016d6..4fa8bba2a437296eabbe7f364bea8bfc5fcdccab 100644
--- a/Makefile
+++ b/Makefile
@@ -69,6 +69,7 @@ SUBDIR+=	prf-roboticsgroup-gazebo-plugins
 SUBDIR+=	prf-teleop-tools
 SUBDIR+=	py-anymal-rbprm
 SUBDIR+=	py-bmtools
+SUBDIR+=	py-breathe
 SUBDIR+=	py-casadi
 SUBDIR+=	py-cvxpy
 SUBDIR+=	py-dill
diff --git a/py-breathe/DESCR b/py-breathe/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..131da87427eb52f56c42f75bb0eaf8f039d493b4
--- /dev/null
+++ b/py-breathe/DESCR
@@ -0,0 +1,3 @@
+Breathe provides a bridge between the Sphinx and Doxygen documentation systems.
+
+It is an easy way to include Doxygen information in a set of documentation generated by Sphinx. The aim is to produce an autodoc like support for people who enjoy using Sphinx but work with languages other than Python. The system relies on the Doxygen’s xml output.
diff --git a/py-breathe/Makefile b/py-breathe/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..0cd790985941105027f0300b39f4a7bda3106b6d
--- /dev/null
+++ b/py-breathe/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for:	wip/py39-breathe
+# Created:			Guilhem Saurel on Tue,  2 Mar 2021
+#
+
+ORG=			michaeljones
+NAME=			breathe
+PYPI_PATH=		42/71/0e7f1aa530c4e5ec401eafbae3530afb6ef559ac39c651150e4900ce381b/
+VERSION=		4.27.0
+DISTNAME=		${NAME}-${VERSION}
+PKGNAME=		${PKGTAG.python-}${NAME}-${VERSION}
+MASTER_SITES=		https://files.pythonhosted.org/packages/${PYPI_PATH}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+
+CATEGORIES=		wip
+HOMEPAGE=		${MASTER_SITE_GITHUB:=${ORG}/${NAME}}
+COMMENT=		an extension to reStructuredText and Sphinx
+LICENSE=		modified-bsd
+MAINTAINER=		gsaurel@laas.fr
+
+PYDISTUTILSPKG=		yes
+PYSETUPINSTALLARGS+=	--single-version-externally-managed --root=/
+MAKE_ENV+=		PYTHONPATH=${PREFIX}/${PYTHON_SITELIB}
+PYTHON_SELF_CONFLICT=	yes
+
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/sysdep/py-sphinx.mk
+include ../../mk/robotpkg.mk
diff --git a/py-breathe/PLIST b/py-breathe/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..f4d0eb47d5bfb418af56597fefd94cfae04b63e9
--- /dev/null
+++ b/py-breathe/PLIST
@@ -0,0 +1,35 @@
+@comment Tue Mar 2 12:11:05 CET 2021
+bin/breathe-apidoc
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/PKG-INFO
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/SOURCES.txt
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/dependency_links.txt
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/entry_points.txt
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/not-zip-safe
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/requires.txt
+${PYTHON_SITELIB}/breathe-${PKGVERSION}-py${PYTHON_VERSION}.egg-info/top_level.txt
+${PYTHON_SITELIB}/breathe/__init__.py
+${PYTHON_SITELIB}/breathe/apidoc.py
+${PYTHON_SITELIB}/breathe/directive/__init__.py
+${PYTHON_SITELIB}/breathe/directive/base.py
+${PYTHON_SITELIB}/breathe/directive/file.py
+${PYTHON_SITELIB}/breathe/directive/index.py
+${PYTHON_SITELIB}/breathe/directives.py
+${PYTHON_SITELIB}/breathe/exception.py
+${PYTHON_SITELIB}/breathe/file_state_cache.py
+${PYTHON_SITELIB}/breathe/finder/__init__.py
+${PYTHON_SITELIB}/breathe/finder/compound.py
+${PYTHON_SITELIB}/breathe/finder/factory.py
+${PYTHON_SITELIB}/breathe/finder/index.py
+${PYTHON_SITELIB}/breathe/parser/__init__.py
+${PYTHON_SITELIB}/breathe/parser/compound.py
+${PYTHON_SITELIB}/breathe/parser/compoundsuper.py
+${PYTHON_SITELIB}/breathe/parser/index.py
+${PYTHON_SITELIB}/breathe/parser/indexsuper.py
+${PYTHON_SITELIB}/breathe/path_handler.py
+${PYTHON_SITELIB}/breathe/process.py
+${PYTHON_SITELIB}/breathe/project.py
+${PYTHON_SITELIB}/breathe/renderer/__init__.py
+${PYTHON_SITELIB}/breathe/renderer/filter.py
+${PYTHON_SITELIB}/breathe/renderer/mask.py
+${PYTHON_SITELIB}/breathe/renderer/sphinxrenderer.py
+${PYTHON_SITELIB}/breathe/renderer/target.py
diff --git a/py-breathe/depend.mk b/py-breathe/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..29c3a1a5f4825242a17f106178d7c840658df764
--- /dev/null
+++ b/py-breathe/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for:	wip/py39-breathe
+# Created:			Guilhem Saurel on Tue,  2 Mar 2021
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+PY_BREATHE_DEPEND_MK:=		${PY_BREATHE_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			py-breathe
+endif
+
+ifeq (+,$(PY_BREATHE_DEPEND_MK)) # ----------------------------------------
+
+include ../../mk/sysdep/python.mk
+
+PREFER.py-breathe?=		robotpkg
+
+DEPEND_USE+=			py-breathe
+
+DEPEND_ABI.py-breathe?=		${PKGTAG.python-}breathe>=4.27.0
+DEPEND_DIR.py-breathe?=		../../wip/py-breathe
+
+SYSTEM_SEARCH.py-breathe=							\
+	'${PYTHON_SYSLIBSEARCH}/breathe/__init__.py:/__version__/s/[^0-9.]//gp'	\
+	'bin/breathe-apidoc'
+
+endif # PY_BREATHE_DEPEND_MK ----------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-breathe/distinfo b/py-breathe/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..81d6f2bc05c4e3dfef1303fb4232a03ea95b7aac
--- /dev/null
+++ b/py-breathe/distinfo
@@ -0,0 +1,3 @@
+SHA1 (breathe-4.27.0.tar.gz) = eb4284035941054293ed2e9818c48da9b272dcfb
+RMD160 (breathe-4.27.0.tar.gz) = ac329fea237d1e6f0e46b27e3d4893c6560ecca0
+Size (breathe-4.27.0.tar.gz) = 77962 bytes