diff --git a/MPC_planner-genom/DESCR b/MPC_planner-genom/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..aa076d696e38640924167aede033a46ebbffe63b
--- /dev/null
+++ b/MPC_planner-genom/DESCR
@@ -0,0 +1,6 @@
+The MPC planner module provides several tools to plan, record and apply
+geometric transformations over a discrete trajectory. The current version to
+not include any global motion planning approach of the MPC library as the
+current experiments have been focused on exloring an unknown environment or
+repeating a learnt trajectory. However, it provides any I/O tools to load,
+save, and modify a recorded trajectory. 
diff --git a/MPC_planner-genom/Makefile b/MPC_planner-genom/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b0aa97989afc5c8982b0d870718b456041f5d080
--- /dev/null
+++ b/MPC_planner-genom/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for:	path/MPC_planner-genom
+# Created:			Arnaud Degroote on Tue, 10 Jan 2012
+#
+
+DISTNAME=		MPC_planner-genom-${VERSION}
+VERSION=		0.2
+CATEGORIES=		path
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=MPC_planner-genom/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_OPENROBOTS}MPC_planner-genom
+
+MAINTAINER=		openrobots@laas.fr
+#HOMEPAGE=
+COMMENT=		Load, save and manipulate trajectories -- genom module	
+
+GNU_CONFIGURE=		yes
+USE_LANGUAGES=		c c++
+
+define PKG_OPTION_UNSET.api
+  include ../../wip/MPC/depend.mk
+  include ../../mapping/dtm-genom/depend.mk
+endef
+
+GENOM_MODULE=		MPC_planner
+include ../../architecture/genom/depend.mk
+
+include ../../interfaces/genPos-genom/depend.mk
+include ../../localization/pom-genom/depend.mk
+include ../../mk/robotpkg.mk
diff --git a/MPC_planner-genom/PLIST b/MPC_planner-genom/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..4bef854f79fdf7728a351900b0ba4a5e04d1f00c
--- /dev/null
+++ b/MPC_planner-genom/PLIST
@@ -0,0 +1,37 @@
+@comment Thu Aug 6 14:11:46 CEST 2009
+${PLIST.noapi}bin/MPC_planner
+${PLIST.noapi}bin/MPC_plannerSendInitRqst
+${PLIST.noapi}bin/MPC_plannerTest
+include/MPC_planner/MPC_planner-Struct.h
+include/MPC_planner/server/MPC_plannerEndian.h
+include/MPC_planner/server/MPC_plannerError.h
+${PLIST.noapi}include/MPC_planner/server/MPC_plannerMsgLib.h
+include/MPC_planner/server/MPC_plannerPosterLib.h
+include/MPC_planner/server/MPC_plannerPosterLibStruct.h
+${PLIST.noapi}include/MPC_planner/server/MPC_plannerPosterReadLibProto.h
+${PLIST.noapi}include/MPC_planner/server/MPC_plannerPosterShowLib.h
+${PLIST.noapi}include/MPC_planner/server/MPC_plannerPosterWriteLibProto.h
+${PLIST.noapi}include/MPC_planner/server/MPC_plannerPosterXMLLib.h
+include/MPC_planner/server/MPC_plannerPrint.h
+include/MPC_planner/server/MPC_plannerPrintXML.h
+include/MPC_planner/server/MPC_plannerScan.h
+include/MPC_planner/server/MPC_plannerType.h
+${PLIST.openprs}include/MPC_planner/server/openprs/MPC_plannerDecodeOpenprs.h
+${PLIST.openprs}include/MPC_planner/server/openprs/MPC_plannerEncodeOpenprs.h
+${PLIST.openprs}include/MPC_planner/server/openprs/MPC_plannerRequestsOpenprsProto.h
+${PLIST.tclserv_client}include/MPC_planner/server/tclservClient/MPC_plannerTclservClientDecode.h
+${PLIST.tclserv_client}include/MPC_planner/server/tclservClient/MPC_plannerTclservClientEncode.h
+${PLIST.tclserv_client}include/MPC_planner/server/tclservClient/MPC_plannerTclservClientMsgLib.h
+lib/libMPC_plannerClient.la
+${PLIST.openprs}lib/openprs/libMPC_plannerOpenprs.la
+${PLIST.openprs}lib/pkgconfig/MPC_planner-oprs.pc
+lib/pkgconfig/MPC_planner.pc
+${PLIST.tclserv_client}lib/pkgconfig/MPC_planner-tclserv_client.pc
+${PLIST.tclserv_client}lib/tclservClient/libMPC_plannerTclservClient.la
+${PLIST.noapi}${PLIST.tcl}lib/tclserv/libMPC_plannerTclServ.la
+share/modules/gen/MPC_planner.gen
+${PLIST.openprs}share/modules/openprs/MPC_plannerOpenprs.inc
+${PLIST.openprs}share/modules/openprs/MPC_plannerOpenprs.opf
+${PLIST.openprs}share/modules/openprs/MPC_plannerOpenprs.sym
+${PLIST.tcl}share/modules/tcl/MPC_plannerClient.tcl
+${PLIST.openprs}@dirrm include/MPC_planner/server/openprs
diff --git a/MPC_planner-genom/depend.mk b/MPC_planner-genom/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..fd53953c76a07fc6fca24af46396c35c31d780c5
--- /dev/null
+++ b/MPC_planner-genom/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	path/MPC_planner-genom
+# Created:			Arnaud Degroote on Tue, 10 Jan 2012
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+MPC_PLANNER_GENOM_DEPEND_MK:=	${MPC_PLANNER_GENOM_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		MPC_planner-genom
+endif
+
+ifeq (+,$(MPC_PLANNER_GENOM_DEPEND_MK))
+PREFER.MPC_planner-genom?=	robotpkg
+
+DEPEND_USE+=		MPC_planner-genom
+
+DEPEND_ABI.MPC_planner-genom?=	MPC_planner-genom>=0.2
+DEPEND_DIR.MPC_planner-genom?=	../../wip/MPC_planner-genom
+
+SYSTEM_SEARCH.MPC_planner-genom=\
+	include/MPC_planner/MPC_planner-Struct.h		\
+	lib/pkgconfig/MPC_planner.pc
+
+include ../../architecture/genom/depend.mk
+
+endif
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/MPC_planner-genom/distinfo b/MPC_planner-genom/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..42761a28f966d6e49a202152d029a7fac905d0c8
--- /dev/null
+++ b/MPC_planner-genom/distinfo
@@ -0,0 +1,3 @@
+SHA1 (MPC_planner-genom-0.2.tar.gz) = 47906932283c3ae5df813e5271712aadc2f43007
+RMD160 (MPC_planner-genom-0.2.tar.gz) = 27d88328defdecf14b9c2be8bc2fb6bc9a158beb
+Size (MPC_planner-genom-0.2.tar.gz) = 11935 bytes
diff --git a/Makefile b/Makefile
index 31f6ac24b5fe0d15a0e77236b577d065b6788f81..a0b2a0d33fe9455905ed07a9d87c80fb3aae49a2 100644
--- a/Makefile
+++ b/Makefile
@@ -22,6 +22,7 @@ SUBDIR+=	libfreenect
 SUBDIR+=	libmove3d
 SUBDIR+=	lwr-genom
 SUBDIR+=	MPC
+SUBDIR+=	MPC_planner-genom
 SUBDIR+=	MPC_DEMTreatment-genom
 SUBDIR+=	mhp-genom
 SUBDIR+=	morse-pocolibs