diff --git a/Makefile b/Makefile
index e8a6a4926956e4f51330b3ae4159760ef2ca452c..ab1d47e4001eb46a61436149ec5a52634360528f 100644
--- a/Makefile
+++ b/Makefile
@@ -90,6 +90,7 @@ SUBDIR+=	py-dynamic-graph-bridge-v3
 SUBDIR+=	py-dynamic-graph-tutorial
 SUBDIR+=	py-dynamic-graph-v3
 SUBDIR+=	py-example-adder
+SUBDIR+=	py-example-robot-data
 SUBDIR+=	py-hqp
 SUBDIR+=	py-mavlink
 SUBDIR+=	py-morse
diff --git a/py-example-robot-data/DESCR b/py-example-robot-data/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..29eb8b874499302970166ddbc2ee7739ebca5281
--- /dev/null
+++ b/py-example-robot-data/DESCR
@@ -0,0 +1 @@
+helpers and unit tests for example-robot-data
diff --git a/py-example-robot-data/Makefile b/py-example-robot-data/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..286a781eed779c78d2c03638096ea454af18c5b2
--- /dev/null
+++ b/py-example-robot-data/Makefile
@@ -0,0 +1,39 @@
+# robotpkg Makefile for:	wip/py-example-robot-data
+# Created:			Guilhem Saurel on Wed, 28 Aug 2019
+#
+
+ORG=			gepetto
+NAME=			example-robot-data
+VERSION=		2.0.0
+
+DISTNAME=		${NAME}-${VERSION}
+PKGNAME=		${PKGTAG.python-}${DISTNAME}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY=	git https://gepgitlab.laas.fr/${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+=	--recursive
+
+CATEGORIES=		wip
+COMMENT=		Set of robot URDFs for benchmarking and developed examples.
+
+LICENSE=		2-clause-bsd
+MAINTAINER=		gepetto@laas.fr
+
+CMAKE_ARGS+=		-DINSTALL_DATA=OFF
+CMAKE_ARGS+=		-DINSTALL_DOCUMENTATION=OFF
+
+include ../../wip/example-robot-data/depend.mk
+
+include ../../graphics/urdfdom-headers/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../math/py-eigenpy/depend.mk
+include ../../math/py-pinocchio/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/py-example-robot-data/PLIST b/py-example-robot-data/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..579ec9c9a93ae335c2372fac95745eab69b553c8
--- /dev/null
+++ b/py-example-robot-data/PLIST
@@ -0,0 +1,4 @@
+@comment Wed Aug 28 13:42:40 CEST 2019
+${PYTHON_SITELIB}/example_robot_data/__init__.py
+${PYTHON_SITELIB}/example_robot_data/__main__.py
+${PYTHON_SITELIB}/example_robot_data/robots_loader.py
diff --git a/py-example-robot-data/depend.mk b/py-example-robot-data/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..033d113ed76e9d5fad60d663d9770fa82271cccc
--- /dev/null
+++ b/py-example-robot-data/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/py-example-robot-data
+# Created:			Guilhem Saurel on Wed, 28 Aug 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_EXAMPLE_ROBOT_DATA_DEPEND_MK:=	${PY_EXAMPLE_ROBOT_DATA_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-example-robot-data
+endif
+
+ifeq (+,$(PY_EXAMPLE_ROBOT_DATA_DEPEND_MK)) # ------------------------------------------
+
+PREFER.py-example-robot-data?=	robotpkg
+
+SYSTEM_SEARCH.py-example-robot-data=\
+  '${PYTHON_SYSLIBSEARCH}/example_robot_data/__init__.py'
+
+DEPEND_USE+=		py-example-robot-data
+
+DEPEND_ABI.py-example-robot-data?=	${PKGTAG.python-}example-robot-data>=2.0.0
+DEPEND_DIR.py-example-robot-data?=	../../wip/py-example-robot-data
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_EXAMPLE_ROBOT_DATA_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-example-robot-data/distinfo b/py-example-robot-data/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..653fd44fd4dcc394294429fc9cde0ba5da3e8e0c
--- /dev/null
+++ b/py-example-robot-data/distinfo
@@ -0,0 +1,5 @@
+SHA1 (example-robot-data-2.0.0.tar.gz) = fb89d7fe41708eff9612d90ca1c5efd2085cede0
+RMD160 (example-robot-data-2.0.0.tar.gz) = 9ed6c240780cb1e9c9f20e3ce43fe76f62ba6223
+Size (example-robot-data-2.0.0.tar.gz) = 10801972 bytes
+SHA1 (patch-aa) = 9731f90f2c33abec026a1d34cfaa653316b84427
+SHA1 (patch-ab) = 83aeb011c56e1d2a9d4da3efae6d2904b207cf06
diff --git a/py-example-robot-data/patches/patch-aa b/py-example-robot-data/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..83ef8fe0054c7c19212a59d6abe3cc57a3f10707
--- /dev/null
+++ b/py-example-robot-data/patches/patch-aa
@@ -0,0 +1,40 @@
+Don't install main headers
+
+--- cmake/header.cmake~	2017-10-26 15:25:19.000000000 +0200
++++ cmake/header.cmake	2018-04-26 18:37:42.582417765 +0200
+@@ -92,11 +92,6 @@
+     ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
+     @ONLY
+     )
+-  INSTALL(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
+-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+-    )
+   # Generate warning.hh header.
+   CONFIGURE_FILE(
+     ${PROJECT_SOURCE_DIR}/cmake/warning.hh.cmake
+@@ -104,11 +99,6 @@
+     @ONLY
+     )
+ 
+-  INSTALL(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/warning.${PROJECT_CUSTOM_HEADER_EXTENSION}
+-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+-    )
+ 
+ 
+   # Generate config.h header.
+@@ -150,11 +140,6 @@
+     @ONLY
+     )
+   # Install it.
+-  INSTALL(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/${FILENAME}
+-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+-    )
+ ENDFUNCTION(GENERATE_CONFIGURATION_HEADER)
+ 
+ 
diff --git a/py-example-robot-data/patches/patch-ab b/py-example-robot-data/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..5e1c7cb2121c018e8d5931c268b51d96573f05b6
--- /dev/null
+++ b/py-example-robot-data/patches/patch-ab
@@ -0,0 +1,13 @@
+Don't install the .pc file, which is already installed by main package
+
+--- cmake/base.cmake.orig	2018-07-11 10:41:37.000000000 +0200
++++ cmake/base.cmake	2018-12-13 14:15:46.772836002 +0100
+@@ -226,7 +226,7 @@
+ #   finalize the project setup.
+ #
+ MACRO(SETUP_PROJECT_FINALIZE)
+-  _SETUP_PROJECT_PKG_CONFIG_FINALIZE()
++  #_SETUP_PROJECT_PKG_CONFIG_FINALIZE()
+   _SETUP_PROJECT_DOCUMENTATION_FINALIZE()
+   _SETUP_PROJECT_HEADER_FINAlIZE()
+   _SETUP_DEBIAN()