diff --git a/pinocchio/DESCR b/pinocchio/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..97ee2cac2939505b8fe203346ce183cb02dce8d7
--- /dev/null
+++ b/pinocchio/DESCR
@@ -0,0 +1 @@
+This package provides an efficient library to compute rigid multibody dynamics.
\ No newline at end of file
diff --git a/pinocchio/Makefile b/pinocchio/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..7a59ea6f8737774967a376bc2ebf1294ab5965dd
--- /dev/null
+++ b/pinocchio/Makefile
@@ -0,0 +1,29 @@
+# robotpkg Makefile for:	wip/pinocchio
+# Created:			Olivier Stasse, Feb 4th 2016
+#
+
+VERSION=		1.0.2
+DISTNAME=		pinocchio-${VERSION}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=pinocchio/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/pinocchio
+
+MAINTAINER=	hpp@laas.fr
+CATEGORIES=	wip
+COMMENT=	Efficient rigid body dynamics
+LICENSE=	gnu-lgpl-v3
+
+DYNAMIC_PLIST_DIRS+=	share/doc/pinocchio
+
+include ../../wip/py-eigen/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../graphics/urdfdom-headers/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/pinocchio/depend.mk b/pinocchio/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..ccbe6b6fb5ced6f02987ed385f5bb9d57994da57
--- /dev/null
+++ b/pinocchio/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/pinocchio
+# Created:			Olivier Stasse, Feb 4th 2016
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PINOCCHIO_DEPEND_MK:=	${PINOCCHIO_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		pinocchio
+endif
+
+ifeq (+,$(PINOCCHIO_DEPEND_MK)) # -------------------------------------------
+
+PREFER.pinocchio?=	robotpkg
+
+SYSTEM_SEARCH.pinocchio=\
+	'lib/pkgconfig/pinocchio.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		pinocchio
+
+DEPEND_ABI.pinocchio?=	pinocchio>1.0.2
+DEPEND_DIR.pinocchio?=	../../wip/pinocchio
+
+include ../../mk/sysdep/python.mk
+
+endif # PINOCCHIO_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/pinocchio/distinfo b/pinocchio/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..43a3b706727e4d0b4f995cd8131bb8a800e56a12
--- /dev/null
+++ b/pinocchio/distinfo
@@ -0,0 +1,3 @@
+SHA1 (pinocchio-1.0.2.tar.gz) = 2d9b21d404f05106c0501abadab457389af66e12
+RMD160 (pinocchio-1.0.2.tar.gz) = 4acd0778c4e2c06b47a07d4f414a4b051d9b0534
+Size (pinocchio-1.0.2.tar.gz) = 8169450 bytes