diff --git a/Makefile b/Makefile
index ec795449bea7c644cbd44694406d66402c1f52da..278a302d9d1f50aa002ea012a69bbed142be023e 100644
--- a/Makefile
+++ b/Makefile
@@ -22,6 +22,7 @@ SUBDIR+=	gerard-bauzil
 SUBDIR+=	hatponboard-lib
 SUBDIR+=	head-action
 SUBDIR+=	histodet
+SUBDIR+=	hpp-affordance
 SUBDIR+=	hpp-bezier-com-traj
 SUBDIR+=	hpp-centroidal-dynamics
 SUBDIR+=	hpp-environments
diff --git a/hpp-affordance/DESCR b/hpp-affordance/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..6a4a290056fb44decb2486b200e1ed01d6aa46e5
--- /dev/null
+++ b/hpp-affordance/DESCR
@@ -0,0 +1 @@
+Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.
diff --git a/hpp-affordance/Makefile b/hpp-affordance/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..4588ff0de3db868a42d3afa9b41ec04888884c71
--- /dev/null
+++ b/hpp-affordance/Makefile
@@ -0,0 +1,20 @@
+# robotpkg Makefile for:	wip/hpp-affordance
+# Created:			Guilhem Saurel on fri, 4 Jan 2019
+#
+
+HPP_PACKAGE=	hpp-affordance
+HPP_COMMENT=	Extract Whole-Body Affordances for Mutli-Contact Planning.
+
+CATEGORIES=	wip
+
+include ../../meta-pkgs/hpp/Makefile.common
+
+include ../../devel/boost-headers/depend.mk
+
+include ../../math/eigen3/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../mapping/octomap/depend.mk
+
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/hpp-affordance/PLIST b/hpp-affordance/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..e41a40232df9c8aed6d34c636e54f3cce0744e36
--- /dev/null
+++ b/hpp-affordance/PLIST
@@ -0,0 +1,9 @@
+@comment Fri Jan 4 17:41:30 CET 2019
+include/hpp/affordance/affordance-extraction.hh
+include/hpp/affordance/config.hh
+include/hpp/affordance/deprecated.hh
+include/hpp/affordance/fwd.hh
+include/hpp/affordance/operations.hh
+include/hpp/affordance/warning.hh
+lib/libhpp-affordance.so
+lib/pkgconfig/hpp-affordance.pc
diff --git a/hpp-affordance/depend.mk b/hpp-affordance/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..acb3cb0d7aee0cfd789ce0176f8b9a6e7b09fd56
--- /dev/null
+++ b/hpp-affordance/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	wip/hpp-affordance
+# Created:			Guilhem Saurel on Fri, 4 Jan 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+HPP_AFFORDANCE_DEPEND_MK:=	${HPP_AFFORDANCE_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		hpp-affordance
+endif
+
+ifeq (+,$(HPP_AFFORDANCE_DEPEND_MK)) # --------------------------------------
+
+PREFER.hpp-affordance?=	robotpkg
+
+DEPEND_USE+=		hpp-affordance
+
+DEPEND_ABI.hpp-affordance?=	hpp-affordance>=4.2.0
+DEPEND_DIR.hpp-affordance?=	../../wip/hpp-affordance
+
+SYSTEM_SEARCH.hpp-affordance=\
+	include/hpp/affordance/config.hh	\
+	lib/libhpp-affordance.so	\
+	'lib/pkgconfig/hpp-affordance.pc:/Version/s/[^0-9.]//gp'
+
+endif # HPP_AFFORDANCE_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/hpp-affordance/distinfo b/hpp-affordance/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..a191e5661c9ab31ccc4f998ce12c5e30e17e7d8c
--- /dev/null
+++ b/hpp-affordance/distinfo
@@ -0,0 +1,3 @@
+SHA1 (hpp-affordance-4.3.0.tar.gz) = 8559d0b6d2d3cd654a2202773d708db506428cd9
+RMD160 (hpp-affordance-4.3.0.tar.gz) = d190c4b138c4668870f63df243f03e34669e7646
+Size (hpp-affordance-4.3.0.tar.gz) = 776229 bytes