diff --git a/Makefile b/Makefile
index e7f468e8a853951678ece6df53a57c9d26984cbd..242df1f50aa043911b42d03b3ffcc12bc2357350 100644
--- a/Makefile
+++ b/Makefile
@@ -155,6 +155,7 @@ SUBDIR+= sot-pattern-generator-v3
SUBDIR+= sot-talos-balance
SUBDIR+= sot-tools-v3
SUBDIR+= sot-torque-control
+SUBDIR+= talos-bauzil
SUBDIR+= talos-data
SUBDIR+= talos-metapkg-ros-control-sot
SUBDIR+= talos-moveit-config
diff --git a/py-talos-dev/Makefile b/py-talos-dev/Makefile
index bd2e5f93546a7f56ba58f99bcb0d70572eef72b1..6389cba167db06d48d4adca1b621bc1a91ac7dff 100644
--- a/py-talos-dev/Makefile
+++ b/py-talos-dev/Makefile
@@ -2,7 +2,7 @@
# Created: Guilhem Saurel on Mon, 9 Oct 2017
#
-TALOS_DATE= 20200730
+TALOS_DATE= 20200810
DISTNAME= talos-dev-${TALOS_DATE}
PKGNAME= ${PKGTAG.python-}${DISTNAME}
@@ -20,6 +20,7 @@ include ../../wip/py-sot-talos-balance/depend.mk
include ../../wip/py-talos-torque-control/depend.mk
include ../../wip/ros-image-pipeline/depend.mk
include ../../wip/ros-ouster-gazebo-simulation/depend.mk
+include ../../wip/talos-bauzil/depend.mk
include ../../wip/talos-metapkg-ros-control-sot/depend.mk
include ../../wip/talos-simulation/depend.mk
diff --git a/talos-bauzil/DESCR b/talos-bauzil/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..c4ccc189dbdb2c0c6b315903a6d6aeb551acc041
--- /dev/null
+++ b/talos-bauzil/DESCR
@@ -0,0 +1 @@
+A simple project to simulate talos in the bauzil room of LAAS-CNRS, Toulouse, France.
diff --git a/talos-bauzil/Makefile b/talos-bauzil/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..fefec1b650f8c1d8985c22c200befe9fc9797e28
--- /dev/null
+++ b/talos-bauzil/Makefile
@@ -0,0 +1,24 @@
+# robotpkg Makefile for: wip/talos-bauzil
+# Created: Guilhem Saurel on Mon, 10 Aug 2020
+#
+
+ORG= stack-of-tasks
+NAME= talos-bauzil
+VERSION= 0.1.0
+
+DISTNAME= ${NAME}-${VERSION}
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}
+LICENSE= gnu-lgpl-v3
+
+CATEGORIES= wip
+COMMENT= Talos simulation in Bauzil
+
+#DYNAMIC_PLIST_DIRS+= share/doc/${ROSNAME}
+
+include ../../wip/talos-data/depend.mk
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/talos-bauzil/PLIST b/talos-bauzil/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..b8839172a800e3511d03f219ffb005adef642168
--- /dev/null
+++ b/talos-bauzil/PLIST
@@ -0,0 +1,43 @@
+@comment Mon Aug 10 11:21:20 CEST 2020
+lib/pkgconfig/talos_bauzil.pc
+lib/talos_bauzil/odom_sot.py
+lib/talos_bauzil/odometry.py
+lib/talos_bauzil/publisher_world.py
+share/doc/talos_data/doxygen-html/talos_data.doxytag
+share/talos_bauzil/cmake/talos_bauzilConfig-version.cmake
+share/talos_bauzil/cmake/talos_bauzilConfig.cmake
+share/talos_bauzil/launch/script_talos_gazebo_bauzil.launch
+share/talos_bauzil/launch/script_walking_bauzil.launch
+share/talos_bauzil/launch/talos_gazebo_bauzil.launch
+share/talos_bauzil/launch/talos_odometry.launch
+share/talos_bauzil/launch/talos_sot_odometry.launch
+share/talos_bauzil/models/airplane_skin/meshes/airplane-skin.dae
+share/talos_bauzil/models/airplane_skin/meshes/airplane-skin.stl
+share/talos_bauzil/models/airplane_skin/model.config
+share/talos_bauzil/models/airplane_skin/model.sdf
+share/talos_bauzil/models/bauzil_room/meshes/bauzil_room.stl
+share/talos_bauzil/models/bauzil_room/meshes/bauzil_room_no_floor.stl
+share/talos_bauzil/models/bauzil_room/model.config
+share/talos_bauzil/models/bauzil_room/model.sdf
+share/talos_bauzil/models/bauzil_room_skins/meshes/airplane-skin.dae
+share/talos_bauzil/models/bauzil_room_skins/meshes/airplane-skin.stl
+share/talos_bauzil/models/bauzil_room_skins/model.config
+share/talos_bauzil/models/bauzil_room_skins/model.sdf
+share/talos_bauzil/package.xml
+share/talos_bauzil/rviz/aicp_walking.rviz
+share/talos_bauzil/rviz/simple.rviz
+share/talos_bauzil/rviz/talos.rviz
+share/talos_bauzil/scripts/start_talos_gazebo.py
+share/talos_bauzil/scripts/start_talos_gazebo_sot.py
+share/talos_bauzil/src/odom_sot.py
+share/talos_bauzil/src/odometry.py
+share/talos_bauzil/src/publisher_world.py
+share/talos_bauzil/urdf/head/head_ouster.urdf.xacro
+share/talos_bauzil/urdf/os1_64.urdf.xacro
+share/talos_bauzil/urdf/talos_full_v2_ouster.urdf.xacro
+share/talos_bauzil/urdf/upload.launch
+share/talos_bauzil/worlds/alone.world
+share/talos_bauzil/worlds/bauzil.world
+share/talos_bauzil/worlds/bauzil_skin_estrade.world
+share/talos_bauzil/worlds/bauzil_skin_offices.world
+share/talos_bauzil/worlds/bauzil_skins.world
diff --git a/talos-bauzil/depend.mk b/talos-bauzil/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..66be9ffc286c437fcee786d159dee7f1207c81fa
--- /dev/null
+++ b/talos-bauzil/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for: wip/talos-bauzil
+# Created: Guilhem Saurel on Mon, 10 Aug 2020
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+TALOS_BAUZIL_DEPEND_MK:= ${TALOS_BAUZIL_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= talos-bauzil
+endif
+
+ifeq (+,$(TALOS_BAUZIL_DEPEND_MK)) # -------------------------------------------
+
+PREFER.talos-bauzil?= robotpkg
+
+SYSTEM_SEARCH.talos-bauzil= \
+ 'lib/pkgconfig/talos_bauzil.pc:/Version/s/[^0-9.]//gp' \
+ 'share/cmake/talos_bauzil/talos_bauzilConfigVersion.cmake:/PACKAGE_VERSION /s/[^0-9.]//gp'
+
+DEPEND_USE+= talos-bauzil
+
+DEPEND_ABI.talos-bauzil?= talos-bauzil>=0.1.0
+DEPEND_DIR.talos-bauzil?= ../../wip/talos-bauzil
+
+endif # TALOS_BAUZIL_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-bauzil/distinfo b/talos-bauzil/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..2ae9d89cd5981a2b13e199302557edb57072654c
--- /dev/null
+++ b/talos-bauzil/distinfo
@@ -0,0 +1,3 @@
+SHA1 (talos-bauzil-0.1.0.tar.gz) = 482adde9b5d24e45d742be447aaa26185a7ee4b2
+RMD160 (talos-bauzil-0.1.0.tar.gz) = 77b5f6b9ad498d3bbda91edd4ecca12b08af271f
+Size (talos-bauzil-0.1.0.tar.gz) = 2982326 bytes