diff --git a/py-sot-talos-balance/DESCR b/py-sot-talos-balance/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..6975758b8d687eaf7a55e46410b9d4a80b701b42
--- /dev/null
+++ b/py-sot-talos-balance/DESCR
@@ -0,0 +1 @@
+Python package of the Balance control for TALOS humanoid robot (based on CARON - ICRA 2019)
\ No newline at end of file
diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c89eae89535fb42156e49ec2571caf6274a7bc5f
--- /dev/null
+++ b/py-sot-talos-balance/Makefile
@@ -0,0 +1,58 @@
+# robotpkg Makefile for: wip/py-sot-talos-balance
+# Created: Olivier Stasse on Sat May 25 23:01:40 CET 2019
+#
+
+ORG= stack-of-tasks
+NAME= sot-talos-balance
+VERSION= 1.4.0
+
+DISTNAME= ${NAME}-${VERSION}
+PKGNAME= ${PKGTAG.python-}${DISTNAME}
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}
+CHECKOUT_VCS_OPTS= --recursive
+
+CATEGORIES= wip
+COMMENT= Balance for TALOS humanoid robot (python bindings)
+LICENSE= 2-clause-bsd
+MAINTAINER= gepetto-soft@laas.fr
+
+CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF
+CMAKE_ARGS+= -DINSTALL_PYTHON_INTERFACE_ONLY=ON
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=ON
+
+include ../../${CATEGORIES}/${NAME}/depend.mk
+
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../graphics/simple-humanoid-description/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../mapping/octomap/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../math/py-pinocchio/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../wip/dynamic-graph-v3/depend.mk
+include ../../wip/py-dynamic-graph-v3/depend.mk
+include ../../wip/sot-core-v3/depend.mk
+include ../../wip/py-sot-core-v3/depend.mk
+include ../../wip/tsid/depend.mk
+include ../../wip/py-tsid/depend.mk
+include ../../wip/parametric-curves/depend.mk
+include ../../wip/py-parametric-curves/depend.mk
+include ../../wip/ddp-actuator-solver/depend.mk
+include ../../wip/eigen-quadprog/depend.mk
+include ../../wip/sot-torque-control/depend.mk
+include ../../wip/py-sot-torque-control/depend.mk
+include ../../wip/sot-talos-balance/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/py-sphinx.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/py-sot-talos-balance/PLIST b/py-sot-talos-balance/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..566cfb72eff5f962101aaa1aabc66a5b89aaec73
--- /dev/null
+++ b/py-sot-talos-balance/PLIST
@@ -0,0 +1,109 @@
+@comment Sun May 26 00:17:03 CEST 2019
+${PYTHON_SITELIB}/sot_talos_balance/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/create_entities_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/example/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/example/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/main.py
+${PYTHON_SITELIB}/sot_talos_balance/meta_task_config.py
+${PYTHON_SITELIB}/sot_talos_balance/meta_task_joint.py
+${PYTHON_SITELIB}/sot_talos_balance/motor_parameters.py
+${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/state_transformation/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/state_transformation/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/talos/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/admittance_ctrl_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/balance_ctrl_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/balance_ctrl_sim_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/base_estimator_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/base_estimator_sim_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/control_manager_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/control_manager_sim_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/current_controller_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/current_controller_sim_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/force_offset_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/force_torque_estimator_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/ft_calibration_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/ft_wrist_calibration_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/joint_torque_controller_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/joint_torque_controller_sim_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/parameter_server_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/test/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_COMTraj.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_admittance_end_effector.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_admittance_single_joint.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_admittance_single_joint_velocity_based.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmComControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmComZmpControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmZmpControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcmZmpControl_file.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_estimator.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_ffSubscriber.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_zmpEstimator.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_COMTraj.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_COMTraj_tracer.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_admittance_end_effector.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_admittance_single_joint.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_admittance_single_joint_velocity_based.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_comAdmittance.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmComControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmComZmpControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmZmpControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_dcmZmpControl_file.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_estimator.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_ffSubscriber.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_jointControl.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_jointTrajGen.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_param_server.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_singleTraj.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_zmpEstimator.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/control_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/filter_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/gazebo_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/plot_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/run_test_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/utils/sot_utils.py
+${PYTHON_SITELIB}/sot_talos_balance/wrap${PYTHON_EXT_SUFFIX}
diff --git a/py-sot-talos-balance/depend.mk b/py-sot-talos-balance/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..4f6d4298dd62ed73ee1604b4f158ebb1001337d2
--- /dev/null
+++ b/py-sot-talos-balance/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for: wip/py-sot-talos-balance
+# Created: Olivier Stasse on Tue, 14 May 2019
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_SOT_TALOS_BALANCE_DEPEND_MK:= ${PY_SOT_TALOS_BALANCE_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= py-sot-talos-balance
+endif
+
+ifeq (+,$(PY_SOT_TALOS_BALANCE_DEPEND_MK)) # -------------------------------------------
+
+PREFER.py-sot-talos-balance?= robotpkg
+
+SYSTEM_SEARCH.py-sot-talos-balance=\
+ '${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/talos_balance/inverse_dynamics_balance_controller/wrap.so' \
+ '${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/talos_balance/__init__.py'
+
+DEPEND_USE+= py-sot-talos-balance
+
+DEPEND_ABI.py-sot-talos-balance?= ${PKGTAG.python-}sot-talos-balance>=1.3.0
+DEPEND_DIR.py-sot-talos-balance?= ../../wip/py-sot-talos-balance
+
+endif # SOT_CORE_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..0734fa9f071dbe8ae5150c7d6ac9b62ec7dd35bf
--- /dev/null
+++ b/py-sot-talos-balance/distinfo
@@ -0,0 +1,4 @@
+SHA1 (sot-talos-balance-1.4.0.tar.gz) = 3a277c693751deeaee46cf8f4e850b2e8aec13cc
+RMD160 (sot-talos-balance-1.4.0.tar.gz) = f792750a3a1b6f4949fe21be81feae4189a81748
+Size (sot-talos-balance-1.4.0.tar.gz) = 8417797 bytes
+SHA1 (patch-aa) = be310bc9dd558388391fe627cad221876bd080e6
diff --git a/py-sot-talos-balance/patches/patch-aa b/py-sot-talos-balance/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..bdc42166dfb8ad1113f338d04890b70cb65acfc8
--- /dev/null
+++ b/py-sot-talos-balance/patches/patch-aa
@@ -0,0 +1,13 @@
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -177,6 +177,8 @@ IF(BUILD_PYTHON_INTERFACE)
+ python/${SOTTALOSBALANCE_PYNAME}/test/appli_dcmComZmpControl.py
+ python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmZmpControl.py
+ python/${SOTTALOSBALANCE_PYNAME}/test/appli_dcmZmpControl.py
++ python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmZmpControl_file.py
++ python/${SOTTALOSBALANCE_PYNAME}/test/appli_dcmZmpControl_file.py
+ python/${SOTTALOSBALANCE_PYNAME}/test/test_comAdmittance.py
+ python/${SOTTALOSBALANCE_PYNAME}/test/test_admittance_single_joint.py
+ python/${SOTTALOSBALANCE_PYNAME}/test/appli_admittance_single_joint.py
+
+