Drupal - How to get the taxonomy translated in URLs?

I've been able to do that, using Entity Translation instead of Taxonomy translation (part of i18n) for translating taxonomy terms, and using the Title module to replace the name field of the taxonomy term and making it translatable.

It works so far.

Check this post on drupal.org. I am in the same position as you, but it seems that there aren't any solutions for D7.

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Edit

I'm editing this so it can be visible that this is already possible. As of writing this there wasn't any way of achieving this. As of drupal 8 comming soon there were new modules developed to help translation processes. They are in the core of drupal 8 and available as modules for drupal 7. So the right answer is what @Pere answered in the bellow answer.

I'm using this, which supports token. You just need to modify the pathauto rule with the provided token.

https://drupal.org/project/pathauto_i18n_taxonomy