diff --git a/cpp b/cpp
index dc9fa68..58e6b5e 160000
--- a/cpp
+++ b/cpp
@@ -1 +1 @@
-Subproject commit dc9fa682a39065c3133fab40c004c3bea3c91a03
+Subproject commit 58e6b5ebf889cbba1e5c7aeaf6616de56db4ca5a
diff --git a/src/robot_modeling/DQ_SerialWholeBody_py.cpp b/src/robot_modeling/DQ_SerialWholeBody_py.cpp
new file mode 100644
index 0000000..eb954d7
--- /dev/null
+++ b/src/robot_modeling/DQ_SerialWholeBody_py.cpp
@@ -0,0 +1,41 @@
+/**
+(C) Copyright 2020 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+- Murilo M. Marinho (murilo@nml.t.u-tokyo.ac.jp)
+*/
+
+#include "../dqrobotics_module.h"
+
+void init_DQ_SerialWholeBody_py(py::module& m)
+{
+    /*****************************************************
+     *  DQ WholeBody
+     * **************************************************/
+    py::class_<DQ_SerialWholeBody,DQ_Kinematics> dqserialwholebody_py(m,"DQ_SerialWholeBody");
+    dqserialwholebody_py.def(py::init<std::shared_ptr<DQ_Kinematics>>());
+    dqserialwholebody_py.def("add",&DQ_SerialWholeBody::add,"Adds a DQ_Kinematics pointer to the kinematic chain.");
+    dqserialwholebody_py.def("fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&) const)&DQ_SerialWholeBody::fkm,"Gets the fkm.");
+    dqserialwholebody_py.def("fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&,const int&) const)&DQ_SerialWholeBody::fkm,"Gets the fkm.");
+    dqserialwholebody_py.def("get_dim_configuration_space",&DQ_SerialWholeBody::get_dim_configuration_space,"Gets the dimention of the configuration space");
+    dqserialwholebody_py.def("get_chain",&DQ_SerialWholeBody::get_chain, "Returns the DQ_Kinematics at a given index of the chain");
+    dqserialwholebody_py.def("get_chain_as_serial_manipulator",&DQ_SerialWholeBody::get_chain_as_serial_manipulator, "Returns the DQ_SerialManipulator at a given index of the chain");
+    dqserialwholebody_py.def("get_chain_as_holonomic_base",&DQ_SerialWholeBody::get_chain_as_holonomic_base, "Returns the DQ_HolonomicBase at a given index of the chain");
+    dqserialwholebody_py.def("pose_jacobian",(MatrixXd (DQ_SerialWholeBody::*)(const VectorXd&, const int&) const)&DQ_SerialWholeBody::pose_jacobian,"Returns the pose Jacobian");
+    dqserialwholebody_py.def("pose_jacobian",(MatrixXd (DQ_SerialWholeBody::*)(const VectorXd&) const)&DQ_SerialWholeBody::pose_jacobian,"Returns the pose Jacobian");
+}