ETM Collaboration. 25 pages, 19 figures. Version accepted for PRD (volume 92, eid 114513)International audienceWe present results on the nucleon scalar, axial and tensor charges as well as on the momentum fraction, and the helicity and transversity moments. The pion momentum fraction is also presented. The computation of these key observables is carried out using lattice QCD simulations at a physical value of the pion mass. The evaluation is based on gauge configurations generated with two degenerate sea quarks of twisted mass fermions with a clover term. We investigate excited states contributions with the nucleon quantum numbers by analyzing three sink-source time separations. We find that, for the scalar charge, excited states contribute...