diff --git a/Makefile b/Makefile
index e5ad66d037ca362d3d38b940528a0890a5baeb20..f05c8d749d2124bad3160d0abc1541222aa9610a 100644
--- a/Makefile
+++ b/Makefile
@@ -103,6 +103,7 @@ SUBDIR+=	py-ros-baxter-common
 SUBDIR+=	py-roscontrol-sot
 SUBDIR+=	py-scs
 SUBDIR+=	py-skeleton-model
+SUBDIR+=	py-sl1m
 SUBDIR+=	py-solo-pybullet
 SUBDIR+=	py-sot-application-v3
 SUBDIR+=	py-sot-core-v3
diff --git a/py-sl1m/DESCR b/py-sl1m/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..3916ec9b1085448453f604130cc19714361a620f
--- /dev/null
+++ b/py-sl1m/DESCR
@@ -0,0 +1 @@
+Implementation of the sl1m solver for multi contact planning
diff --git a/py-sl1m/Makefile b/py-sl1m/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..f15de5f3874ac03a13f826c156e22b812412a4cd
--- /dev/null
+++ b/py-sl1m/Makefile
@@ -0,0 +1,27 @@
+# robotpkg Makefile for:	wip/py38-sl1m
+# Created:			Guilhem Saurel on Tue, 12 May 2020
+#
+
+ORG=			loco-3d
+NAME=			sl1m
+VERSION=		0.1.0
+
+PKGNAME=		${PKGTAG.python-}${DISTNAME}
+
+CATEGORIES=		wip
+COMMENT=		Implementation of the sl1m solver for multi contact planning
+LICENSE=		2-clause-bsd
+MAINTAINER=		gsaurel@laas.fr
+
+PYTHON_SELF_CONFLICT=	yes
+
+include ../../devel/jrl-cmakemodules/Makefile.common
+include ../../wip/py-cvxpy/depend.mk
+include ../../wip/py-gurobi/depend.mk
+include ../../wip/py-pycddlib/depend.mk
+include ../../math/py-quadprog/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-sl1m/PLIST b/py-sl1m/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..ba192c8b76a05f79ecc7ae8519e217f605aa4ffc
--- /dev/null
+++ b/py-sl1m/PLIST
@@ -0,0 +1,60 @@
+@comment Tue May 12 18:13:57 CEST 2020
+include/sl1m/config.hh
+include/sl1m/deprecated.hh
+include/sl1m/warning.hh
+lib/cmake/sl1m/sl1mConfig.cmake
+lib/cmake/sl1m/sl1mConfigVersion.cmake
+lib/cmake/sl1m/sl1mTargets.cmake
+lib/pkgconfig/sl1m.pc
+${PYTHON_SITELIB}/sl1m/__init__.py
+${PYTHON_SITELIB}/sl1m/constants_and_tools.py
+${PYTHON_SITELIB}/sl1m/fix_sparsity.py
+${PYTHON_SITELIB}/sl1m/planner.py
+${PYTHON_SITELIB}/sl1m/planner_l1.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/__init__.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/complex.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/complex1.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/escaliers.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/flat_ground.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_complex.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_complex1.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_complex_path.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_stair_bauzil.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_stair_bauzil_10.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_stair_bauzil_hrp2_path.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/lp_stair_bauzil_hrp2_path_10.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/stairs_10cm.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/__init__.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/complex1.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/constraints.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/lp_complex1.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/lp_complex1_path.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/lp_ramp_path.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/lp_rubbles_path.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/lp_slalom_debris.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/lp_slalom_debris_path.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/maze.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/ramp_noGuide.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/rubble_stairs.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/rubbles.py
+${PYTHON_SITELIB}/sl1m/planner_scenarios/talos/slalom_debris.py
+${PYTHON_SITELIB}/sl1m/problem_definition.py
+${PYTHON_SITELIB}/sl1m/qp.py
+${PYTHON_SITELIB}/sl1m/rbprm/__init__.py
+${PYTHON_SITELIB}/sl1m/rbprm/constants_and_tools.py
+${PYTHON_SITELIB}/sl1m/rbprm/surfaces_from_planning.py
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/__init__.py
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/complex.py
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/constraints.py
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/constraints_files/COM_constraints_in_LF_effector_frame.obj
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/constraints_files/COM_constraints_in_RF_effector_frame.obj
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/constraints_files/LF_constraints_in_RF.obj
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/constraints_files/RF_constraints_in_LF.obj
+${PYTHON_SITELIB}/sl1m/stand_alone_scenarios/escaliers.py
+${PYTHON_SITELIB}/sl1m/tools/__init__.py
+${PYTHON_SITELIB}/sl1m/tools/geom_utils.py
+${PYTHON_SITELIB}/sl1m/tools/obj_to_constraints.py
+${PYTHON_SITELIB}/sl1m/tools/plot_plytopes.py
+${PYTHON_SITELIB}/sl1m/tools/plot_utils.py
+${PYTHON_SITELIB}/sl1m/tools/polytope_conversion_utils.py
+${PYTHON_SITELIB}/sl1m/tools/transformations.py
diff --git a/py-sl1m/depend.mk b/py-sl1m/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..86cddf15107e663dc32163f6c419fe91894bf98a
--- /dev/null
+++ b/py-sl1m/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for:	wip/py38-sl1m
+# Created:			Guilhem Saurel on Tue, 12 May 2020
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+PY_SL1M_DEPEND_MK:=		${PY_SL1M_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			py-sl1m
+endif
+
+ifeq (+,$(PY_SL1M_DEPEND_MK)) # ----------------------------------------
+
+include ../../mk/sysdep/python.mk
+
+PREFER.py-sl1m?=		robotpkg
+
+DEPEND_USE+=			py-sl1m
+
+DEPEND_ABI.py-sl1m?=		${PKGTAG.python-}sl1m>=0.1.0
+DEPEND_DIR.py-sl1m?=		../../wip/py-sl1m
+
+SYSTEM_SEARCH.py-sl1m=								\
+  '${PYTHON_SYSLIBSEARCH}/sl1m/__init__.py'					\
+  'lib/cmake/sl1m/sl1mConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp'
+
+endif # PY_SL1M_DEPEND_MK ----------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-sl1m/distinfo b/py-sl1m/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..e48ab3cf93ee4826bceac5c21bbd70a5c70c9253
--- /dev/null
+++ b/py-sl1m/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sl1m-0.1.0.tar.gz) = edc06437c9d6db138b93602593959925410a34ae
+RMD160 (sl1m-0.1.0.tar.gz) = 6f0bea428e82623fea0639599b896fc49e44d7fb
+Size (sl1m-0.1.0.tar.gz) = 876672 bytes