diff --git a/Makefile b/Makefile
index 68298ab921242a5da138c4d891fd177bb2a38924..6a7ae6c6512f4f726ee74f3af4510e50edaa1dea 100644
--- a/Makefile
+++ b/Makefile
@@ -105,6 +105,7 @@ SUBDIR+=	py-qpoases
 SUBDIR+=	py-qt-gepetto-pythonqt
 SUBDIR+=	py-quadprog
 SUBDIR+=	py-skeleton-model
+SUBDIR+=	py-solo-pybullet
 SUBDIR+=	py-sot-application-v3
 SUBDIR+=	py-sot-core-v3
 SUBDIR+=	py-sot-dynamic-pinocchio-v3
diff --git a/py-solo-pybullet/DESCR b/py-solo-pybullet/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..ffd869b25c06a5fad4b42204577e73225e8e7799
--- /dev/null
+++ b/py-solo-pybullet/DESCR
@@ -0,0 +1 @@
+A template-based Library for creating curves of arbitrary order and dimension, eventually subject to derivative constraints. The main use of the library is the creation of end-effector trajectories for legged robots.
diff --git a/py-solo-pybullet/Makefile b/py-solo-pybullet/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..342e4a480fdcab70519e24d42c0a8147b825e85b
--- /dev/null
+++ b/py-solo-pybullet/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for:	wip/py37-solo-pybullet
+# Created:			Guilhem Saurel on Thu, 17 Oct 2019
+#
+
+ORG=			gepetto
+NAME=			solo-pybullet
+VERSION=		0.1.0
+
+CATEGORIES=		wip
+COMMENT=		Simulation and Controller code for Solo Quadruped
+
+LICENSE=		2-clause-bsd
+MAINTAINER=		gepetto@laas.fr
+
+USE_PYTHON_ONLY=	true
+
+include ../../devel/jrl-cmakemodules/Makefile.common
+include ../../pkgtools/pkg-config/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../math/py-eigenpy/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../math/py-pinocchio/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/sysdep/py-numpy.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/py-solo-pybullet/PLIST b/py-solo-pybullet/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..202e71bf63f08b54e673b419d0e298d1cc840a7f
--- /dev/null
+++ b/py-solo-pybullet/PLIST
@@ -0,0 +1,6 @@
+@comment Thu Oct 17 10:38:43 CEST 2019
+${PYTHON_SITELIB}/solo_pybullet/PD.py
+${PYTHON_SITELIB}/solo_pybullet/__init__.py
+${PYTHON_SITELIB}/solo_pybullet/__main__.py
+${PYTHON_SITELIB}/solo_pybullet/controller.py
+${PYTHON_SITELIB}/solo_pybullet/initialization_simulation.py
diff --git a/py-solo-pybullet/depend.mk b/py-solo-pybullet/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..183cdc79e726b49fd52eb9f2ab8e9c2689410227
--- /dev/null
+++ b/py-solo-pybullet/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/py37-solo-pybullet
+# Created:			Guilhem Saurel on Thu, 17 Oct 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_SOLO_PYBULLET_DEPEND_MK:=	${PY_SOLO_PYBULLET_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-solo-pybullet
+endif
+
+ifeq (+,$(PY_SOLO_PYBULLET_DEPEND_MK)) # --------------------------------------
+
+PREFER.py-solo-pybullet?=	robotpkg
+
+DEPEND_USE+=		py-solo-pybullet
+
+DEPEND_ABI.py-solo-pybullet?=	${PKGTAG.python-}solo-pybullet>=0.1.0
+DEPEND_DIR.py-solo-pybullet?=	../../wip/py-py-solo-pybullet
+
+SYSTEM_SEARCH.py-solo-pybullet=\
+	'${PYTHON_SYSLIBSEARCH}/solo_pybullet/__init__.py'
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_SOLO_PYBULLET_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-solo-pybullet/distinfo b/py-solo-pybullet/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..63adc81a960ffcd4dc3aaa1b49e18b497a4cea4f
--- /dev/null
+++ b/py-solo-pybullet/distinfo
@@ -0,0 +1,3 @@
+SHA1 (solo-pybullet-0.1.0.tar.gz) = e8d83f0b36bfa9a0c2216a032545c8aa5b5f46ab
+RMD160 (solo-pybullet-0.1.0.tar.gz) = 4dff2b8398cd3c18ff3e60909995b05cab2bcb56
+Size (solo-pybullet-0.1.0.tar.gz) = 774975 bytes