diff --git a/Makefile b/Makefile
index 8736e58e5b1b592f8886a3b7e8b8df2d21771b1d..2d0415e20616fc67d5108d876f806c161039f8b7 100644
--- a/Makefile
+++ b/Makefile
@@ -50,6 +50,7 @@ SUBDIR+=	ompl
 SUBDIR+=	openhrp3-hrp2
 SUBDIR+=	openhrp3-simulator-wo-rtm
 SUBDIR+=	osg-dae
+SUBDIR+=	osqp
 SUBDIR+=	pal-gazebo-plugins
 SUBDIR+=	pal-gazebo-worlds
 SUBDIR+=	pal-gripper
diff --git a/osqp/DESCR b/osqp/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..9163cf00b3b0238cf534174f6b50660f6db26fbb
--- /dev/null
+++ b/osqp/DESCR
@@ -0,0 +1,7 @@
+The OSQP (Operator Splitting Quadratic Program) solver is a numerical optimization package for solving problems in the form
+
+minimize        0.5 x' P x + q' x
+
+subject to      l <= A x <= u
+
+where x in R^n is the optimization variable. The objective function is defined by a positive semidefinite matrix P in S^n_+ and vector q in R^n. The linear constraints are defined by matrix A in R^{m x n} and vectors l and u so that l_i in R U {-inf} and u_i in R U {+inf} for all i in 1,...,m.
diff --git a/osqp/Makefile b/osqp/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c9999d2e0d32c3f86cec954e1a8e7b1c94b1e578
--- /dev/null
+++ b/osqp/Makefile
@@ -0,0 +1,26 @@
+# robotpkg Makefile for:	optimization/osqp
+# Created:			Guilhem Saurel on Wed,  2 Dec 2020
+#
+
+ORG=			oxfordcontrol
+NAME=			osqp
+VERSION=		0.6.0
+
+DISTNAME=		${NAME}-${VERSION}
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+
+CATEGORIES=		optimization
+HOMEPAGE=		${MASTER_SITE_GITHUB:=${ORG}/${NAME}}
+COMMENT=		The Operator Splitting QP Solver
+LICENSE=		apache-2.0
+MAINTAINER=		gsaurel@laas.fr
+
+USE_BOOST_LIBS=		unit_test_framework
+
+CMAKE_ARGS+=		-DDLONG=OFF
+
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/osqp/PLIST b/osqp/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..725769ca5ad8660e35a983b441baa6f72ddf1ce6
--- /dev/null
+++ b/osqp/PLIST
@@ -0,0 +1,28 @@
+@comment Wed Dec 2 12:22:46 CET 2020
+include/osqp/auxil.h
+include/osqp/constants.h
+include/osqp/cs.h
+include/osqp/ctrlc.h
+include/osqp/error.h
+include/osqp/glob_opts.h
+include/osqp/lin_alg.h
+include/osqp/lin_sys.h
+include/osqp/osqp.h
+include/osqp/osqp_configure.h
+include/osqp/polish.h
+include/osqp/proj.h
+include/osqp/scaling.h
+include/osqp/types.h
+include/osqp/util.h
+include/qdldl/qdldl.h
+include/qdldl/qdldl_types.h
+lib/cmake/osqp/osqp-config.cmake
+lib/cmake/osqp/osqp-targets-release.cmake
+lib/cmake/osqp/osqp-targets.cmake
+lib/cmake/qdldl/qdldl-config.cmake
+lib/cmake/qdldl/qdldl-targets-release.cmake
+lib/cmake/qdldl/qdldl-targets.cmake
+lib/libosqp.a
+lib/libosqp.so
+lib/libqdldl.a
+lib/libqdldl.so
diff --git a/osqp/depend.mk b/osqp/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..0d91ad7bf41c2c249ae5101233154e20214b6f1d
--- /dev/null
+++ b/osqp/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	optimization/osqp
+# Created:			Guilhem Saurel on Wed,  2 Dec 2020
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+OSQP_DEPEND_MK:=		${OSQP_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			osqp
+endif
+
+ifeq (+,$(OSQP_DEPEND_MK)) # ------------------------------------------
+
+PREFER.osqp?=			robotpkg
+
+SYSTEM_SEARCH.osqp=						\
+  'include/osqp/constants.h:/OSQP_VERSION /s/[^0-9.]//gp'	\
+  'lib/cmake/osqp/osqp-config.cmake'				\
+  'lib/libosqp.so'
+
+DEPEND_USE+=			osqp
+
+DEPEND_ABI.osqp?=		osqp>=0.6.0
+DEPEND_DIR.osqp?=		../../wip/osqp
+
+endif # OSQP_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH:+=}
diff --git a/osqp/distinfo b/osqp/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..d26e835158e3561802885efffdf2a606185977f5
--- /dev/null
+++ b/osqp/distinfo
@@ -0,0 +1,3 @@
+SHA1 (osqp-0.6.0.tar.gz) = 88a13bfb4237ed374b16bfcdf30508e587852706
+RMD160 (osqp-0.6.0.tar.gz) = b9da41f4aa8e47995dad08090f276e83a4e5caf8
+Size (osqp-0.6.0.tar.gz) = 953983 bytes