diff --git a/Makefile b/Makefile
index b88ffc261ce394c78648ac33ecc2998caf88e8f0..d44b1b8b6b04779eecc999505c0211f37c3343d4 100644
--- a/Makefile
+++ b/Makefile
@@ -91,6 +91,7 @@ SUBDIR+=	romeo-description
 SUBDIR+=	ros-realtime-tools
 SUBDIR+= 	rtslam-genom
 SUBDIR+=	sot-application
+SUBDIR+=	sot-dyninv
 SUBDIR+=	sot-romeo
 SUBDIR+=	soth
 SUBDIR+=	spark-genom
diff --git a/sot-dyninv/DESCR b/sot-dyninv/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..0e622f9bd68fdc418993d4176904b09c7f034236
--- /dev/null
+++ b/sot-dyninv/DESCR
@@ -0,0 +1 @@
+This sofware provides the solver and features to resolve the inverse of the dynamics of a free-floating robot, in contact with its environment. The basics are provided by the sot core, and the computation of the dynamics of the robot can be computed by a third party lib, for example sot-dynamic.
diff --git a/sot-dyninv/Makefile b/sot-dyninv/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..804fcd66deba90e7984daa899e06ddf6101669cf
--- /dev/null
+++ b/sot-dyninv/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for:	wip/sot-dyninv
+# Created:			Aurelie Clodic on Thu, 30 Oct 2014
+#
+
+PKGNAME=		sot-dyninv-${VERSION}
+DISTNAME=		sot-dyninv-${VERSION}
+VERSION=		2.0.0
+PKGREVISION=		0
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-dyninv/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/sot-dyninv
+
+MAINTAINER=	hpp@laas.fr
+CATEGORIES=	wip
+LICENSE=	gnu-lgpl-v3
+
+DYNAMIC_PLIST_DIRS+=	share/doc/sot-dyninv
+
+include ../../interfaces/jrl-mal/depend.mk
+include ../../motion/py-dynamic-graph/depend.mk
+include ../../motion/sot-core/depend.mk
+include ../../wip/soth/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/sot-dyninv/PLIST b/sot-dyninv/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..1e6d77dbc66e2f4a42e676069eefbfd8b3be984a
--- /dev/null
+++ b/sot-dyninv/PLIST
@@ -0,0 +1,31 @@
+@comment Thu Oct 30 17:29:40 CET 2014
+include/sot-dyninv/col-piv-qr-solve-in-place.h
+include/sot-dyninv/commands-helper.h
+include/sot-dyninv/config.h
+include/sot-dyninv/config.hh
+include/sot-dyninv/contact-selecter.h
+include/sot-dyninv/controller-pd.h
+include/sot-dyninv/deprecated.hh
+include/sot-dyninv/dynamic-integrator.h
+include/sot-dyninv/entity-helper.h
+include/sot-dyninv/feature-projected-line.h
+include/sot-dyninv/mal-to-eigen.h
+include/sot-dyninv/pseudo-robot-dynamic.h
+include/sot-dyninv/robot-dyn-simu.h
+include/sot-dyninv/signal-helper.h
+include/sot-dyninv/solver-dyn-reduced.h
+include/sot-dyninv/solver-kine.h
+include/sot-dyninv/solver-op-space.h
+include/sot-dyninv/stack-template.h
+include/sot-dyninv/stack-template.t.cpp
+include/sot-dyninv/task-dyn-inequality.h
+include/sot-dyninv/task-dyn-joint-limits.h
+include/sot-dyninv/task-dyn-limits.h
+include/sot-dyninv/task-dyn-passing-point.h
+include/sot-dyninv/task-dyn-pd.h
+include/sot-dyninv/task-inequality.h
+include/sot-dyninv/task-joint-limits.h
+include/sot-dyninv/task-weight.h
+include/sot-dyninv/warning.hh
+include/sot-dyninv/zmp-estimator.h
+lib/pkgconfig/sot-dyninv.pc
diff --git a/sot-dyninv/depend.mk b/sot-dyninv/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..b48e7382d263ae48314452fc29f6a1d30d1bc288
--- /dev/null
+++ b/sot-dyninv/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for:	wip/sot-dyninv
+# Created:			Aurelie Clodic on Thu, 30 Oct 2014
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+SOT_CORE_DEPEND_MK:=	${SOT-DYNINV_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		sot-dyninv
+endif
+
+ifeq (+,$(SOT-DYNINV_DEPEND_MK)) # -------------------------------------------
+
+PREFER.sot-dyninv?=	robotpkg
+
+SYSTEM_SEARCH.sot-dyninv=\
+	include/sot-dyninv/config.h				\
+	'lib/pkgconfig/sot-dyninv.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		sot-dyninv
+
+DEPEND_ABI.sot-dyninv?=	sot-dyninv>=2.0.0
+DEPEND_DIR.sot-dyninv?=	../../wip/sot-dyninv
+
+endif # SOT_DYNINV_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/sot-dyninv/distinfo b/sot-dyninv/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..9895e9ea458a75d316035d8e84a24d195eeaee93
--- /dev/null
+++ b/sot-dyninv/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-dyninv-2.0.0.tar.gz) = 8676d37b182e380b0fa5e393ee41986918a36c53
+RMD160 (sot-dyninv-2.0.0.tar.gz) = ebae6035211c05a50dcc63f66e7e0f94a6a742c3
+Size (sot-dyninv-2.0.0.tar.gz) = 235677 bytes