diff --git a/hrp2-14-description/DESCR b/hrp2-14-description/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..dfbe95275fd2cc3a14a8d69aa1b1cfd51a22b8d2
--- /dev/null
+++ b/hrp2-14-description/DESCR
@@ -0,0 +1,3 @@
+HRP-2 robot descrition using URDF standard.
+This is a ROS package.
+ 
diff --git a/hrp2-14-description/Makefile b/hrp2-14-description/Makefile
index 9ada27440e2a70c5fe81185141f4419723964d58..d225e4eb96e88345bbb096609b4377b64c893322 100644
--- a/hrp2-14-description/Makefile
+++ b/hrp2-14-description/Makefile
@@ -17,11 +17,13 @@ RESTRICTED=	Redistribution of repackaged binaries not permitted
 NO_PUBLIC_SRC=	${RESTRICTED}
 NO_PUBLIC_BIN=	${RESTRICTED}
 
-
 DYNAMIC_PLIST_DIRS+=	share/doc/hrp2_14_description
 
+
 include ../../meta-pkgs/ros-base/Makefile.common
 
+include ../robot_capsule_urdf/depend.mk
+include ../../graphics/urdfdom/depend.mk
 include ../../devel/ros-catkin/depend.mk
 include ../../devel/ros-xacro/depend.mk
 include ../../interfaces/ros-common-msgs/depend.mk
@@ -35,3 +37,8 @@ include ../../mk/sysdep/pdflatex.mk
 include ../../mk/language/c.mk
 include ../../mk/language/c++.mk
 include ../../mk/robotpkg.mk
+
+CONFIGURE_ENV+=      ROS_ROOT=$(call quote,/opt/openrobots/share/ros)
+CONFIGURE_ENV+=      ROS_PACKAGE_PATH=$(call quote,/opt/openrobots/share:/opt/openrobots/stacks)
+CONFIGURE_ENV+=      ROS_MASTER_URI=$(call quote,http://localhost:11311)
+CONFIGURE_ENV+=      ROS_DISTRO=$(call quote,${PREFER.ros})
diff --git a/hrp2-14-description/depend.mk b/hrp2-14-description/depend.mk
index 731a86d08f91d4057a3655efbeda8477046cc11b..7bfc5eeb17176a7d7fcd911547759e69d33f9906 100644
--- a/hrp2-14-description/depend.mk
+++ b/hrp2-14-description/depend.mk
@@ -17,6 +17,7 @@ SYSTEM_SEARCH.hrp2-14-description=\
 	'lib/pkgconfig/hrp2-14-description.pc:/Version/s/[^0-9.]//gp'
 
 DEPEND_USE+=		hrp2-14-description
+ROS_DEPEND_USER+=	hrp2-14-description
 
 DEPEND_ABI.hrp2-14-description?=	hrp2-14-description>=1.0.0
 DEPEND_DIR.hrp2-14-description?=	../../robots/hrp2-14-description
diff --git a/urdfdom_py/DESCR b/urdfdom_py/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..5bc4dfd562562b8c2d4de9f2cdf905d82b54fac1
--- /dev/null
+++ b/urdfdom_py/DESCR
@@ -0,0 +1,3 @@
+Robot capsule URDF
+Put capsule on a robot from its URDF description.
+ 
diff --git a/urdfdom_py/Makefile b/urdfdom_py/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c3d33dc3a96ec1e8398c95b688cf1de36ea4693d
--- /dev/null
+++ b/urdfdom_py/Makefile
@@ -0,0 +1,24 @@
+# robotpkg Makefile for:	graphics/urdfdom_py
+# Created:			Olivier Stasse on Fri, 19 Jun 2015
+#
+VERSION=		0.3.0-2
+DISTNAME=		urdfdom_py-${VERSION}
+PKGNAME=		urdfdom_py-${VERSION}
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=urdfdom_py/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}laas/urdfdom_py
+
+CATEGORIES=		graphics
+COMMENT=		Provides a URDF python parser
+# (model copyright hold by Aldebaran Robotics) 
+LICENSE=		2-clause-bsd
+MAINTAINER=		hpp@laas.fr
+
+DYNAMIC_PLIST_DIRS+=	share/doc/urdfdom_py
+
+include ../../graphics/urdfdom/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/urdfdom_py/depend.mk b/urdfdom_py/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..7e898ae0d72babc4319b66eb3cefea80b9a53e2a
--- /dev/null
+++ b/urdfdom_py/depend.mk
@@ -0,0 +1,26 @@
+# robotpkg depend.mk for:	graphics/urdfdom_py
+# Created:			Olivier Stasse on Wed, 19 Jun 2015
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+URDFDOM_PY_DEPEND_MK:=	${URDFDOM_PY_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		urdfdom-py
+endif
+
+ifeq (+,$(ROMEO_DEPEND_MK)) # -------------------------------------------
+
+PREFER.urdfdom-py?=	robotpkg
+
+SYSTEM_SEARCH.urdfdom-py=\
+	'lib/pkgconfig/urdfdom-py.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		urdfdom-py
+
+DEPEND_ABI.urdfdom-py?=	urdfdom-py>=1.0.0
+DEPEND_DIR.urdfdom-py?=	../../robots/urdfdom-py
+
+endif # URDFDOM_PY_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/urdfdom_py/distinfo b/urdfdom_py/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..112637603139c03e66b198c6197389a0e414d107
--- /dev/null
+++ b/urdfdom_py/distinfo
@@ -0,0 +1,3 @@
+SHA1 (urdfdom_py-0.3.0-2.tar.gz) = f921c1c6286d193745127733b6bd695f274bf590
+RMD160 (urdfdom_py-0.3.0-2.tar.gz) = 2b6ca60e49e8d0aba927c4c479f561d48c313f41
+Size (urdfdom_py-0.3.0-2.tar.gz) = 58170 bytes