diff --git a/metapod/DESCR b/metapod/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..fe77c056035dd0c71b5a1e4381d03c00a124e4dd
--- /dev/null
+++ b/metapod/DESCR
@@ -0,0 +1,7 @@
+This software provides robot dynamics algorithms. It uses a
+combination of a specific representation of robot models and C++
+templates, such that each algorithm remains model-independant, yet is
+optimized for a particular robot at compile-time.
+
+As of today, the following algorithms have been implemented:
+- RNEA (Recursive Newton Euler Algorithm) for inverse dynamics.
\ No newline at end of file
diff --git a/metapod/Makefile b/metapod/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a4dcbbf8eda5e570b068c4e93259c1eecba3f44e
--- /dev/null
+++ b/metapod/Makefile
@@ -0,0 +1,34 @@
+# robotpkg Makefile for:	math/metapod
+# Created:			Antonio El Khoury on Wed, 29 Feb 2012
+#
+
+PACKAGE=                metapod
+VERSION=	        1.0.0
+DISTNAME=	        ${PACKAGE}-${VERSION}
+PKGNAME=	        ${PACKAGE}-${VERSION}
+PKGREVISION=
+
+CATEGORIES=		math
+MASTER_SITES=		${MASTER_SITE_GITHUB_GEPETTO:=${PACKAGE}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB_LAAS}${PACKAGE}
+
+COMMENT=		Template-based rigid body dynamics library.
+
+LICENSE=		gnu-gpl-v3
+MAINTAINER=		gepetto@laas.fr
+
+USE_LANGUAGES+=		c c++
+DOXYGEN_PLIST_DIR+=	share/doc/${PACAKGE}
+
+CMAKE_ARGS+=            -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+CMAKE_ARGS+=            -DBOOST_LIBRARYDIR=${PREFIX.boost-libs}/lib
+CMAKE_ARGS+=            -ggdb3 -O3 -funroll-loops -march=native -mfpmath=sse
+
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/graphviz.mk
+include ../../mk/sysdep/pdflatex.mk
+include ../../mk/robotpkg.mk
diff --git a/metapod/PLIST b/metapod/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..df1fcc6a8d6e6b9aad47a3ef8faf2e1fb84ff0ea
--- /dev/null
+++ b/metapod/PLIST
@@ -0,0 +1,305 @@
+@comment Wed Feb 29 16:13:57 CET 2012
+include/metapod/algos/rnea.hh
+include/metapod/config.hh
+include/metapod/deprecated.hh
+include/metapod/models/simple-humanoid/body.hh
+include/metapod/models/simple-humanoid/joint.hh
+include/metapod/models/simple-humanoid/robot.hh
+include/metapod/tools/bodymacros.hh
+include/metapod/tools/common.hh
+include/metapod/tools/initconf.hh
+include/metapod/tools/jointmacros.hh
+include/metapod/tools/print.hh
+include/metapod/tools/smallmatrixmacros.hh
+include/metapod/tools/spatial.hh
+include/metapod/warning.hh
+lib/pkgconfig/metapod.pc
+share/doc/metapod/doxygen-html/a00001.html
+share/doc/metapod/doxygen-html/a00002.html
+share/doc/metapod/doxygen-html/a00003.html
+share/doc/metapod/doxygen-html/a00004.html
+share/doc/metapod/doxygen-html/a00005.html
+share/doc/metapod/doxygen-html/a00006.html
+share/doc/metapod/doxygen-html/a00007.html
+share/doc/metapod/doxygen-html/a00008.html
+share/doc/metapod/doxygen-html/a00009.html
+share/doc/metapod/doxygen-html/a00010.html
+share/doc/metapod/doxygen-html/a00011.html
+share/doc/metapod/doxygen-html/a00012.html
+share/doc/metapod/doxygen-html/a00013.html
+share/doc/metapod/doxygen-html/a00014.html
+share/doc/metapod/doxygen-html/a00015.html
+share/doc/metapod/doxygen-html/a00016.html
+share/doc/metapod/doxygen-html/a00017.html
+share/doc/metapod/doxygen-html/a00018.html
+share/doc/metapod/doxygen-html/a00019.html
+share/doc/metapod/doxygen-html/a00020.html
+share/doc/metapod/doxygen-html/a00021.html
+share/doc/metapod/doxygen-html/a00022.html
+share/doc/metapod/doxygen-html/a00023.html
+share/doc/metapod/doxygen-html/a00024.html
+share/doc/metapod/doxygen-html/a00025.html
+share/doc/metapod/doxygen-html/a00026.html
+share/doc/metapod/doxygen-html/a00027.html
+share/doc/metapod/doxygen-html/a00028.html
+share/doc/metapod/doxygen-html/a00029.html
+share/doc/metapod/doxygen-html/a00030.html
+share/doc/metapod/doxygen-html/a00031.html
+share/doc/metapod/doxygen-html/a00032.html
+share/doc/metapod/doxygen-html/a00033.html
+share/doc/metapod/doxygen-html/a00035.map
+share/doc/metapod/doxygen-html/a00035.md5
+share/doc/metapod/doxygen-html/a00035.png
+share/doc/metapod/doxygen-html/a00036.map
+share/doc/metapod/doxygen-html/a00036.md5
+share/doc/metapod/doxygen-html/a00036.png
+share/doc/metapod/doxygen-html/a00037.map
+share/doc/metapod/doxygen-html/a00037.md5
+share/doc/metapod/doxygen-html/a00037.png
+share/doc/metapod/doxygen-html/a00038.map
+share/doc/metapod/doxygen-html/a00038.md5
+share/doc/metapod/doxygen-html/a00038.png
+share/doc/metapod/doxygen-html/a00039.map
+share/doc/metapod/doxygen-html/a00039.md5
+share/doc/metapod/doxygen-html/a00039.png
+share/doc/metapod/doxygen-html/a00040.map
+share/doc/metapod/doxygen-html/a00040.md5
+share/doc/metapod/doxygen-html/a00040.png
+share/doc/metapod/doxygen-html/a00041.map
+share/doc/metapod/doxygen-html/a00041.md5
+share/doc/metapod/doxygen-html/a00041.png
+share/doc/metapod/doxygen-html/a00042.map
+share/doc/metapod/doxygen-html/a00042.md5
+share/doc/metapod/doxygen-html/a00042.png
+share/doc/metapod/doxygen-html/a00043.map
+share/doc/metapod/doxygen-html/a00043.md5
+share/doc/metapod/doxygen-html/a00043.png
+share/doc/metapod/doxygen-html/a00044.map
+share/doc/metapod/doxygen-html/a00044.md5
+share/doc/metapod/doxygen-html/a00044.png
+share/doc/metapod/doxygen-html/a00045.map
+share/doc/metapod/doxygen-html/a00045.md5
+share/doc/metapod/doxygen-html/a00045.png
+share/doc/metapod/doxygen-html/a00046.map
+share/doc/metapod/doxygen-html/a00046.md5
+share/doc/metapod/doxygen-html/a00046.png
+share/doc/metapod/doxygen-html/a00047.map
+share/doc/metapod/doxygen-html/a00047.md5
+share/doc/metapod/doxygen-html/a00047.png
+share/doc/metapod/doxygen-html/a00048.map
+share/doc/metapod/doxygen-html/a00048.md5
+share/doc/metapod/doxygen-html/a00048.png
+share/doc/metapod/doxygen-html/a00049.map
+share/doc/metapod/doxygen-html/a00049.md5
+share/doc/metapod/doxygen-html/a00049.png
+share/doc/metapod/doxygen-html/a00050.map
+share/doc/metapod/doxygen-html/a00050.md5
+share/doc/metapod/doxygen-html/a00050.png
+share/doc/metapod/doxygen-html/a00051.map
+share/doc/metapod/doxygen-html/a00051.md5
+share/doc/metapod/doxygen-html/a00051.png
+share/doc/metapod/doxygen-html/a00052.map
+share/doc/metapod/doxygen-html/a00052.md5
+share/doc/metapod/doxygen-html/a00052.png
+share/doc/metapod/doxygen-html/a00053.map
+share/doc/metapod/doxygen-html/a00053.md5
+share/doc/metapod/doxygen-html/a00053.png
+share/doc/metapod/doxygen-html/a00054.map
+share/doc/metapod/doxygen-html/a00054.md5
+share/doc/metapod/doxygen-html/a00054.png
+share/doc/metapod/doxygen-html/a00055.map
+share/doc/metapod/doxygen-html/a00055.md5
+share/doc/metapod/doxygen-html/a00055.png
+share/doc/metapod/doxygen-html/a00056.map
+share/doc/metapod/doxygen-html/a00056.md5
+share/doc/metapod/doxygen-html/a00056.png
+share/doc/metapod/doxygen-html/a00057.map
+share/doc/metapod/doxygen-html/a00057.md5
+share/doc/metapod/doxygen-html/a00057.png
+share/doc/metapod/doxygen-html/a00058.map
+share/doc/metapod/doxygen-html/a00058.md5
+share/doc/metapod/doxygen-html/a00058.png
+share/doc/metapod/doxygen-html/a00059.map
+share/doc/metapod/doxygen-html/a00059.md5
+share/doc/metapod/doxygen-html/a00059.png
+share/doc/metapod/doxygen-html/a00060.map
+share/doc/metapod/doxygen-html/a00060.md5
+share/doc/metapod/doxygen-html/a00060.png
+share/doc/metapod/doxygen-html/a00061.map
+share/doc/metapod/doxygen-html/a00061.md5
+share/doc/metapod/doxygen-html/a00061.png
+share/doc/metapod/doxygen-html/a00062.map
+share/doc/metapod/doxygen-html/a00062.md5
+share/doc/metapod/doxygen-html/a00062.png
+share/doc/metapod/doxygen-html/a00063.map
+share/doc/metapod/doxygen-html/a00063.md5
+share/doc/metapod/doxygen-html/a00063.png
+share/doc/metapod/doxygen-html/a00064.map
+share/doc/metapod/doxygen-html/a00064.md5
+share/doc/metapod/doxygen-html/a00064.png
+share/doc/metapod/doxygen-html/a00065.map
+share/doc/metapod/doxygen-html/a00065.md5
+share/doc/metapod/doxygen-html/a00065.png
+share/doc/metapod/doxygen-html/a00066.map
+share/doc/metapod/doxygen-html/a00066.md5
+share/doc/metapod/doxygen-html/a00066.png
+share/doc/metapod/doxygen-html/a00067.html
+share/doc/metapod/doxygen-html/a00070.map
+share/doc/metapod/doxygen-html/a00070.md5
+share/doc/metapod/doxygen-html/a00070.png
+share/doc/metapod/doxygen-html/a00071.html
+share/doc/metapod/doxygen-html/a00072.map
+share/doc/metapod/doxygen-html/a00072.md5
+share/doc/metapod/doxygen-html/a00072.png
+share/doc/metapod/doxygen-html/a00073.html
+share/doc/metapod/doxygen-html/a00074.map
+share/doc/metapod/doxygen-html/a00074.md5
+share/doc/metapod/doxygen-html/a00074.png
+share/doc/metapod/doxygen-html/a00075.map
+share/doc/metapod/doxygen-html/a00075.md5
+share/doc/metapod/doxygen-html/a00075.png
+share/doc/metapod/doxygen-html/a00076.html
+share/doc/metapod/doxygen-html/a00077.html
+share/doc/metapod/doxygen-html/a00078.html
+share/doc/metapod/doxygen-html/a00079.html
+share/doc/metapod/doxygen-html/a00080.html
+share/doc/metapod/doxygen-html/a00081.html
+share/doc/metapod/doxygen-html/a00082.html
+share/doc/metapod/doxygen-html/a00083.html
+share/doc/metapod/doxygen-html/a00084.html
+share/doc/metapod/doxygen-html/a00085.html
+share/doc/metapod/doxygen-html/a00086.html
+share/doc/metapod/doxygen-html/annotated.html
+share/doc/metapod/doxygen-html/classes.html
+share/doc/metapod/doxygen-html/doxygen.css
+share/doc/metapod/doxygen-html/doxygen.png
+share/doc/metapod/doxygen-html/files.html
+share/doc/metapod/doxygen-html/ftv2blank.png
+share/doc/metapod/doxygen-html/ftv2doc.png
+share/doc/metapod/doxygen-html/ftv2folderclosed.png
+share/doc/metapod/doxygen-html/ftv2folderopen.png
+share/doc/metapod/doxygen-html/ftv2lastnode.png
+share/doc/metapod/doxygen-html/ftv2link.png
+share/doc/metapod/doxygen-html/ftv2mlastnode.png
+share/doc/metapod/doxygen-html/ftv2mnode.png
+share/doc/metapod/doxygen-html/ftv2node.png
+share/doc/metapod/doxygen-html/ftv2plastnode.png
+share/doc/metapod/doxygen-html/ftv2pnode.png
+share/doc/metapod/doxygen-html/ftv2vertline.png
+share/doc/metapod/doxygen-html/functions.html
+share/doc/metapod/doxygen-html/functions_eval.html
+share/doc/metapod/doxygen-html/functions_func.html
+share/doc/metapod/doxygen-html/functions_rela.html
+share/doc/metapod/doxygen-html/functions_type.html
+share/doc/metapod/doxygen-html/functions_vars.html
+share/doc/metapod/doxygen-html/globals.html
+share/doc/metapod/doxygen-html/globals_defs.html
+share/doc/metapod/doxygen-html/graph_legend.dot
+share/doc/metapod/doxygen-html/graph_legend.html
+share/doc/metapod/doxygen-html/graph_legend.png
+share/doc/metapod/doxygen-html/hierarchy.html
+share/doc/metapod/doxygen-html/index.html
+share/doc/metapod/doxygen-html/inherits.html
+share/doc/metapod/doxygen-html/installdox
+share/doc/metapod/doxygen-html/main.html
+share/doc/metapod/doxygen-html/metapod.doxytag
+share/doc/metapod/doxygen-html/namespacemembers.html
+share/doc/metapod/doxygen-html/namespacemembers_func.html
+share/doc/metapod/doxygen-html/namespacemembers_type.html
+share/doc/metapod/doxygen-html/namespaces.html
+share/doc/metapod/doxygen-html/search/all_61.html
+share/doc/metapod/doxygen-html/search/all_62.html
+share/doc/metapod/doxygen-html/search/all_63.html
+share/doc/metapod/doxygen-html/search/all_64.html
+share/doc/metapod/doxygen-html/search/all_65.html
+share/doc/metapod/doxygen-html/search/all_66.html
+share/doc/metapod/doxygen-html/search/all_67.html
+share/doc/metapod/doxygen-html/search/all_68.html
+share/doc/metapod/doxygen-html/search/all_69.html
+share/doc/metapod/doxygen-html/search/all_6a.html
+share/doc/metapod/doxygen-html/search/all_6c.html
+share/doc/metapod/doxygen-html/search/all_6d.html
+share/doc/metapod/doxygen-html/search/all_6e.html
+share/doc/metapod/doxygen-html/search/all_6f.html
+share/doc/metapod/doxygen-html/search/all_70.html
+share/doc/metapod/doxygen-html/search/all_72.html
+share/doc/metapod/doxygen-html/search/all_73.html
+share/doc/metapod/doxygen-html/search/all_74.html
+share/doc/metapod/doxygen-html/search/all_76.html
+share/doc/metapod/doxygen-html/search/all_77.html
+share/doc/metapod/doxygen-html/search/classes_61.html
+share/doc/metapod/doxygen-html/search/classes_63.html
+share/doc/metapod/doxygen-html/search/classes_66.html
+share/doc/metapod/doxygen-html/search/classes_69.html
+share/doc/metapod/doxygen-html/search/classes_6d.html
+share/doc/metapod/doxygen-html/search/classes_6e.html
+share/doc/metapod/doxygen-html/search/classes_70.html
+share/doc/metapod/doxygen-html/search/classes_72.html
+share/doc/metapod/doxygen-html/search/classes_76.html
+share/doc/metapod/doxygen-html/search/close.png
+share/doc/metapod/doxygen-html/search/defines_63.html
+share/doc/metapod/doxygen-html/search/defines_65.html
+share/doc/metapod/doxygen-html/search/defines_66.html
+share/doc/metapod/doxygen-html/search/defines_67.html
+share/doc/metapod/doxygen-html/search/defines_6a.html
+share/doc/metapod/doxygen-html/search/defines_6d.html
+share/doc/metapod/doxygen-html/search/defines_6e.html
+share/doc/metapod/doxygen-html/search/defines_72.html
+share/doc/metapod/doxygen-html/search/defines_73.html
+share/doc/metapod/doxygen-html/search/defines_74.html
+share/doc/metapod/doxygen-html/search/enumvalues_68.html
+share/doc/metapod/doxygen-html/search/enumvalues_69.html
+share/doc/metapod/doxygen-html/search/files_62.html
+share/doc/metapod/doxygen-html/search/files_63.html
+share/doc/metapod/doxygen-html/search/files_64.html
+share/doc/metapod/doxygen-html/search/files_66.html
+share/doc/metapod/doxygen-html/search/files_69.html
+share/doc/metapod/doxygen-html/search/files_6a.html
+share/doc/metapod/doxygen-html/search/files_70.html
+share/doc/metapod/doxygen-html/search/files_72.html
+share/doc/metapod/doxygen-html/search/files_73.html
+share/doc/metapod/doxygen-html/search/files_74.html
+share/doc/metapod/doxygen-html/search/files_77.html
+share/doc/metapod/doxygen-html/search/functions_61.html
+share/doc/metapod/doxygen-html/search/functions_63.html
+share/doc/metapod/doxygen-html/search/functions_64.html
+share/doc/metapod/doxygen-html/search/functions_66.html
+share/doc/metapod/doxygen-html/search/functions_67.html
+share/doc/metapod/doxygen-html/search/functions_68.html
+share/doc/metapod/doxygen-html/search/functions_69.html
+share/doc/metapod/doxygen-html/search/functions_6a.html
+share/doc/metapod/doxygen-html/search/functions_6d.html
+share/doc/metapod/doxygen-html/search/functions_6e.html
+share/doc/metapod/doxygen-html/search/functions_6f.html
+share/doc/metapod/doxygen-html/search/functions_70.html
+share/doc/metapod/doxygen-html/search/functions_72.html
+share/doc/metapod/doxygen-html/search/functions_73.html
+share/doc/metapod/doxygen-html/search/functions_74.html
+share/doc/metapod/doxygen-html/search/functions_76.html
+share/doc/metapod/doxygen-html/search/functions_77.html
+share/doc/metapod/doxygen-html/search/namespaces_6d.html
+share/doc/metapod/doxygen-html/search/namespaces_73.html
+share/doc/metapod/doxygen-html/search/nomatches.html
+share/doc/metapod/doxygen-html/search/related_6f.html
+share/doc/metapod/doxygen-html/search/related_70.html
+share/doc/metapod/doxygen-html/search/search.css
+share/doc/metapod/doxygen-html/search/search.js
+share/doc/metapod/doxygen-html/search/search.png
+share/doc/metapod/doxygen-html/search/typedefs_62.html
+share/doc/metapod/doxygen-html/search/typedefs_63.html
+share/doc/metapod/doxygen-html/search/typedefs_66.html
+share/doc/metapod/doxygen-html/search/typedefs_6a.html
+share/doc/metapod/doxygen-html/search/typedefs_6d.html
+share/doc/metapod/doxygen-html/search/typedefs_74.html
+share/doc/metapod/doxygen-html/search/typedefs_76.html
+share/doc/metapod/doxygen-html/search/variables_61.html
+share/doc/metapod/doxygen-html/search/variables_66.html
+share/doc/metapod/doxygen-html/search/variables_69.html
+share/doc/metapod/doxygen-html/search/variables_6c.html
+share/doc/metapod/doxygen-html/search/variables_6e.html
+share/doc/metapod/doxygen-html/search/variables_76.html
+share/doc/metapod/doxygen-html/tab_b.gif
+share/doc/metapod/doxygen-html/tab_l.gif
+share/doc/metapod/doxygen-html/tab_r.gif
+share/doc/metapod/doxygen-html/tabs.css
+share/doc/metapod/doxygen-html/tree.html
diff --git a/metapod/depend.mk b/metapod/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..a176bbb10c9fc04cd7d6c4aaa7c2b79354572edd
--- /dev/null
+++ b/metapod/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for:	math/metapod
+# Created:			Antonio El Khoury on Wed, 29 Feb 2012
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+METAPOD_DEPEND_MK:=	${METAPOD_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		metapod
+endif
+
+ifeq (+,$(METAPOD_DEPEND_MK)) # ---------------------------
+
+PREFER.metapod?=	robotpkg
+
+DEPEND_USE+=		metapod
+
+DEPEND_ABI.metapod?=	metapod>=1.0.0
+DEPEND_DIR.metapod?=	../../math/metapod
+
+SYSTEM_SEARCH.metapod=			\
+	include/metapod/algos/rnea.hh	\
+	'lib/pkgconfig/metapod.pc:/Version/s/[^0-9.]//gp'
+
+endif # METAPOD_DEPEND_MK ---------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/metapod/distinfo b/metapod/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..337b7fac5cf8ecb7e13af18c73cfa4bddb03d989
--- /dev/null
+++ b/metapod/distinfo
@@ -0,0 +1,3 @@
+SHA1 (metapod-1.0.0.tar.gz) = 4dc4f8238e86ec9b4015f4061af478b4d42cf151
+RMD160 (metapod-1.0.0.tar.gz) = 06adf0e7c2d969c3e4450731d1ce6bbf9454c0c9
+Size (metapod-1.0.0.tar.gz) = 81113 bytes