diff --git a/Makefile b/Makefile
index 26faba04eabdbc64befa1cbb2c07db5a586f8113..b2b57c548bbbc4204a867a519cfdc22ee3f59c56 100644
--- a/Makefile
+++ b/Makefile
@@ -89,6 +89,7 @@ SUBDIR+=	py-dynamic-graph-bridge-v3
 SUBDIR+=	py-dynamic-graph-tutorial
 SUBDIR+=	py-dynamic-graph-v3
 SUBDIR+=	py-example-adder
+SUBDIR+=	py-hqp
 SUBDIR+=	py-mavlink
 SUBDIR+=	py-morse
 SUBDIR+=	py-mraa
diff --git a/py-bmtools/depend.mk b/py-bmtools/depend.mk
index 0fdbf64a13badb02b94b67fa48b7cea5ab7590a2..1514c5f31e611e4a106d5cb5caaa61672793b77b 100644
--- a/py-bmtools/depend.mk
+++ b/py-bmtools/depend.mk
@@ -18,7 +18,7 @@ SYSTEM_SEARCH.py-bmtools=\
 
 DEPEND_USE+=			py-bmtools
 
-DEPEND_ABI.py-bmtools?=		${PKGTAG.python-}bmtools>=1.0
+DEPEND_ABI.py-bmtools?=		${PKGTAG.python-}bmtools>=1.0.1
 DEPEND_DIR.py-bmtools?=		../../wip/py-bmtools
 
 include ../../mk/sysdep/python.mk
diff --git a/py-hqp/DESCR b/py-hqp/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..e5a9b6072812a46568401efca55b6151faaa91e2
--- /dev/null
+++ b/py-hqp/DESCR
@@ -0,0 +1 @@
+HQP for whole body motion generation
diff --git a/py-hqp/Makefile b/py-hqp/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..1be490fe4a2332c88c6395e30d66d101c9d3d325
--- /dev/null
+++ b/py-hqp/Makefile
@@ -0,0 +1,27 @@
+# robotpkg Makefile for:	wip/py-hqp
+# Created:			Guilhem Saurel on Fry, 19 Apr 2019
+#
+
+ORG=			gepetto
+NAME=			hqp
+VERSION=		1.0.1
+
+DISTNAME=		${NAME}-${VERSION}
+PKGNAME=		${PKGTAG.python-}${DISTNAME}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}.git
+
+CATEGORIES=		wip
+COMMENT=		HQP for whole body motion generation
+LICENSE=		gnu-lgpl-v3
+
+DEPEND_ABI.python+=	python<3
+PYDISTUTILSPKG=		yes
+NO_CONFIGURE=		yes
+
+MAKE_ENV+=		PYTHONPATH=$(call quote,${PREFIX}/${PYTHON_SITELIB})
+
+include ../../mk/sysdep/py-setuptools.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/robotpkg.mk
diff --git a/py-hqp/PLIST b/py-hqp/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..2d46468175ab332c74d6a60d2d83de2cd9dbbf04
--- /dev/null
+++ b/py-hqp/PLIST
@@ -0,0 +1,28 @@
+@comment Fri Apr 19 19:39:34 CEST 2019
+${PYTHON_SITELIB}/hqp-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/hqp/__init__.py
+${PYTHON_SITELIB}/hqp/abstract_solver.py
+${PYTHON_SITELIB}/hqp/acc_bounds_util.py
+${PYTHON_SITELIB}/hqp/acc_bounds_util_multi_dof.py
+${PYTHON_SITELIB}/hqp/convex_hull_util.py
+${PYTHON_SITELIB}/hqp/derivative_filters.py
+${PYTHON_SITELIB}/hqp/first_order_low_pass_filter.py
+${PYTHON_SITELIB}/hqp/geom_utils.py
+${PYTHON_SITELIB}/hqp/inv_dyn_formulation_util.py
+${PYTHON_SITELIB}/hqp/multi_contact/__init__.py
+${PYTHON_SITELIB}/hqp/multi_contact/com_acc_LP.py
+${PYTHON_SITELIB}/hqp/multi_contact/robust_equilibrium_DLP.py
+${PYTHON_SITELIB}/hqp/multi_contact/stability_criterion.py
+${PYTHON_SITELIB}/hqp/multi_contact/utils.py
+${PYTHON_SITELIB}/hqp/plot_utils.py
+${PYTHON_SITELIB}/hqp/polytope_conversion_utils.py
+${PYTHON_SITELIB}/hqp/robot_config.py
+${PYTHON_SITELIB}/hqp/simulator.py
+${PYTHON_SITELIB}/hqp/solvers.py
+${PYTHON_SITELIB}/hqp/sot_utils.py
+${PYTHON_SITELIB}/hqp/standard_qp_solver.py
+${PYTHON_SITELIB}/hqp/tasks.py
+${PYTHON_SITELIB}/hqp/trajectories.py
+${PYTHON_SITELIB}/hqp/transformations.py
+${PYTHON_SITELIB}/hqp/viewer_utils.py
+${PYTHON_SITELIB}/hqp/wrapper.py
diff --git a/py-hqp/depend.mk b/py-hqp/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..005c5f00dbaeaf964eb027168cf70a2f5074ab08
--- /dev/null
+++ b/py-hqp/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/py-hqp
+# Created:			Guilhem Saurel on Fri, 19 Apr 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_HQP_DEPEND_MK:=	${PY_HQP_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-hqp
+endif
+
+ifeq (+,$(PY_HQP_DEPEND_MK)) # ------------------------------------------
+
+PREFER.py-hqp?=	robotpkg
+
+SYSTEM_SEARCH.py-hqp=\
+  '${PYTHON_SYSLIBSEARCH}/hqp/__init__.py'
+
+DEPEND_USE+=			py-hqp
+
+DEPEND_ABI.py-hqp?=		${PKGTAG.python-}hqp>=1.0.1
+DEPEND_DIR.py-hqp?=		../../wip/py-hqp
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_HQP_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-hqp/distinfo b/py-hqp/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..9e88e49d60f07b9b1deb510b6706e8b4c84b17b7
--- /dev/null
+++ b/py-hqp/distinfo
@@ -0,0 +1,3 @@
+SHA1 (hqp-1.0.1.tar.gz) = 667a81700609cdeee5d65933dab20ca90790953b
+RMD160 (hqp-1.0.1.tar.gz) = d79173f667e5339943571e4de1c826c3100501c0
+Size (hqp-1.0.1.tar.gz) = 84064 bytes