diff --git a/py-eigen/DESCR b/py-eigen/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..9a7af114351805946c35c31569c29f2a02df796b
--- /dev/null
+++ b/py-eigen/DESCR
@@ -0,0 +1 @@
+This package provides the python bindings for eigen.
\ No newline at end of file
diff --git a/py-eigen/Makefile b/py-eigen/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..bc8c50680a26f5961889b5e6869ac78bdfa42fd0
--- /dev/null
+++ b/py-eigen/Makefile
@@ -0,0 +1,34 @@
+# robotpkg Makefile for:	wip/py-eigen
+# Created:			Olivier Stasse, Feb 3rd 2016
+#
+
+VERSION=		1.3.0
+DISTNAME=		eigenpy-${VERSION}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=eigenpy/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/eigenpy
+
+MAINTAINER=	hpp@laas.fr
+CATEGORIES=	wip
+COMMENT=	eigen binding to python
+LICENSE=	gnu-lgpl-v3
+
+DYNAMIC_PLIST_DIRS+=	share/doc/eigenpy
+
+CMAKE_ARGS+=		-DPYTHON_EXECUTABLE=${PYTHON}
+CMAKE_ARGS+=		-DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE}
+CMAKE_ARGS+=		-DPYTHON_LIBRARY=${PYTHON_LIB}
+CMAKE_ARGS+=		-DPYTHON_SITELIB=${PYTHON_SITELIB}
+
+DEPEND_ABI.python+=	python<3
+
+include ../../mk/sysdep/python.mk
+include ../../math/eigen3/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/py-eigen/PLIST b/py-eigen/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..6cfe377bb987186397748275a384eb3708835323
--- /dev/null
+++ b/py-eigen/PLIST
@@ -0,0 +1,16 @@
+@comment Wed Feb 3 14:00:09 CET 2016
+include/eigenpy/angle-axis.hpp
+include/eigenpy/config.h
+include/eigenpy/config.hh
+include/eigenpy/deprecated.hh
+include/eigenpy/details.hpp
+include/eigenpy/eigenpy.hpp
+include/eigenpy/exception.hpp
+include/eigenpy/fwd.hpp
+include/eigenpy/geometry.hpp
+include/eigenpy/map.hpp
+include/eigenpy/memory.hpp
+include/eigenpy/quaternion.hpp
+include/eigenpy/warning.hh
+lib/libeigenpy.so
+lib/pkgconfig/eigenpy.pc
diff --git a/py-eigen/depend.mk b/py-eigen/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..1920f469a56ca33a709b57514fa5bedf667b420c
--- /dev/null
+++ b/py-eigen/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/py-eigen
+# Created:			Olivier Stasse, Feb 3rd 2016
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_EIGEN_DEPEND_MK:=	${PY_EIGEN_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-eigen
+endif
+
+ifeq (+,$(PY_EIGEN_DEPEND_MK)) # -------------------------------------------
+
+PREFER.py-eigen?=	robotpkg
+
+SYSTEM_SEARCH.py-eigen=\
+	'lib/pkgconfig/eigenpy.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		py-eigen
+
+DEPEND_ABI.py-eigen?=	eigen3
+DEPEND_DIR.py-eigen?=	../../wip/py-eigen
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_EIGEN_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-eigen/distinfo b/py-eigen/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..72f37b6f0ce98807be16ec12fe6302b1a42b3073
--- /dev/null
+++ b/py-eigen/distinfo
@@ -0,0 +1,3 @@
+SHA1 (eigenpy-1.3.0.tar.gz) = faba124beb691b541532971439e65440deb73b4c
+RMD160 (eigenpy-1.3.0.tar.gz) = 79028bbc46d9399631060ea2fdf6d15779c1f9c5
+Size (eigenpy-1.3.0.tar.gz) = 174667 bytes