diff --git a/recipes/urchin/meta.yaml b/recipes/urchin/meta.yaml
new file mode 100644
index 0000000000000..a4b9f009fb819
--- /dev/null
+++ b/recipes/urchin/meta.yaml
@@ -0,0 +1,60 @@
+{% set name = "urchin" %}
+{% set version = "0.0.27" %}
+
+package:
+  name: {{ name|lower }}
+  version: {{ version }}
+
+source:
+  url: https://pypi.io/packages/source/{{ name[0] }}/{{ name }}/urchin-{{ version }}.tar.gz
+  sha256: 926525d34866f58d13109ee57df90842c03c15e7403b7b1bdb0febcf841219fc
+
+build:
+  noarch: python
+  script: {{ PYTHON }} -m pip install . -vv
+  number: 0
+
+requirements:
+  host:
+    - python
+    - lxml
+    - networkx
+    - numpy
+    - pillow
+    - pycollada >=0.6
+    - pyribbit >=0.1.46
+    - python >=3.6
+    - scipy
+    - six
+    - trimesh
+    - pip
+  run:
+    - python
+    - lxml
+    - networkx
+    - numpy
+    - pillow
+    - pycollada >=0.6
+    - pyribbit >=0.1.46
+    - python >=3.6
+    - scipy
+    - six
+    - trimesh
+
+test:
+  imports:
+    - urchin
+  commands:
+    - pip check
+  requires:
+    - pip
+
+about:
+  home: https://github.com/fishbotics/urchin
+  summary: URDF parser and manipulator for Python
+  license: MIT
+  license_file: LICENSE
+
+extra:
+  recipe-maintainers:
+    - traversaro
diff --git a/recipes/urchin/yum_requirements.txt b/recipes/urchin/yum_requirements.txt
new file mode 100644
index 0000000000000..d9e569c0a1675
--- /dev/null
+++ b/recipes/urchin/yum_requirements.txt
@@ -0,0 +1,6 @@
+mesa-libGL
+mesa-libGLU
+libselinux
+libXdamage
+libXxf86vm
+libXext