diff --git a/Makefile b/Makefile
index 0e737b2837361e16399e7ba49e57197fdfcf8028..5b66cf777895bfb8a37c5bc123903641d50a8c5d 100644
--- a/Makefile
+++ b/Makefile
@@ -21,6 +21,7 @@ SUBDIR+=	gerard-bauzil
 SUBDIR+=	hatponboard-lib
 SUBDIR+=	head-action
 SUBDIR+=	histodet
+SUBDIR+=	hpp-environments
 SUBDIR+=	hrp2-dev
 SUBDIR+=	hrp2-14-description
 SUBDIR+=	hrp2-bringup
diff --git a/hpp-environments/DESCR b/hpp-environments/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..20f1514ab2dd83cba0fdd3b1de062da412eeaf3b
--- /dev/null
+++ b/hpp-environments/DESCR
@@ -0,0 +1 @@
+Environments and robot descriptions for HPP
diff --git a/hpp-environments/Makefile b/hpp-environments/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d541838d7a9204d6a89e9f895fd626e9f32e4ff3
--- /dev/null
+++ b/hpp-environments/Makefile
@@ -0,0 +1,17 @@
+# robotpkg Makefile for:	wip/hpp-environments
+# Created:			Guilhem Saurel on Fri, 10 Oct 2018
+#
+
+HPP_PACKAGE=	hpp-environments
+HPP_COMMENT=	Environments and robot descriptions for HPP
+
+CATEGORIES=	wip
+
+DEPEND_ABI.python+=	python<3
+
+include ../../meta-pkgs/hpp/Makefile.common
+
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/hpp-environments/PLIST b/hpp-environments/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..2f7381a80703791f87632c8272ea43599a846d95
--- /dev/null
+++ b/hpp-environments/PLIST
@@ -0,0 +1,61 @@
+@comment Fri Oct 19 16:39:15 CEST 2018
+include/hpp/environments/config.hh
+include/hpp/environments/deprecated.hh
+include/hpp/environments/warning.hh
+lib/pkgconfig/hpp-environments.pc
+${PYTHON_SITELIB}/hpp/environments/__init__.py
+${PYTHON_SITELIB}/hpp/environments/robot.py
+share/hpp_environments/meshes/CMakeLists.txt
+share/hpp_environments/meshes/buggy/buggy.dae
+share/hpp_environments/meshes/buggy/buggyBB.dae
+share/hpp_environments/meshes/buggy/buggy_rearwheel.dae
+share/hpp_environments/meshes/buggy/scene.dae
+share/hpp_environments/meshes/buggy/scene.stl
+share/hpp_environments/meshes/buggy/wheel_frontleft.dae
+share/hpp_environments/meshes/buggy/wheel_frontright.dae
+share/hpp_environments/meshes/hrp2/floor.dae
+share/hpp_environments/meshes/tests/baxter_simple/torso.dae
+share/hpp_environments/meshes/ur_benchmark/pokeball.dae
+share/hpp_environments/package.xml
+share/hpp_environments/srdf/beam.srdf
+share/hpp_environments/srdf/beam_support.srdf
+share/hpp_environments/srdf/buggy.srdf
+share/hpp_environments/srdf/construction_set/cylinder_08.srdf
+share/hpp_environments/srdf/construction_set/cylinder_13.srdf
+share/hpp_environments/srdf/construction_set/ground.srdf
+share/hpp_environments/srdf/construction_set/sphere.srdf
+share/hpp_environments/srdf/drawer_desk/desk.srdf
+share/hpp_environments/srdf/hrp2/floor_as_mesh.srdf
+share/hpp_environments/srdf/placard.srdf
+share/hpp_environments/srdf/scene.srdf
+share/hpp_environments/srdf/tests/baxter_simple.srdf
+share/hpp_environments/srdf/ur_benchmark/box.srdf
+share/hpp_environments/srdf/ur_benchmark/ground.srdf
+share/hpp_environments/srdf/ur_benchmark/pokeball.srdf
+share/hpp_environments/texture/logo_romeo.jpg
+share/hpp_environments/urdf/beam.urdf
+share/hpp_environments/urdf/beam_support.urdf
+share/hpp_environments/urdf/buggy.urdf
+share/hpp_environments/urdf/construction_set/cylinder.srdf
+share/hpp_environments/urdf/construction_set/cylinder_08.urdf
+share/hpp_environments/urdf/construction_set/cylinder_13.urdf
+share/hpp_environments/urdf/construction_set/ground.urdf
+share/hpp_environments/urdf/construction_set/sphere.urdf
+share/hpp_environments/urdf/drawer_desk/case.urdf.xacro
+share/hpp_environments/urdf/drawer_desk/desk.urdf
+share/hpp_environments/urdf/drawer_desk/desk.urdf.xacro
+share/hpp_environments/urdf/drawer_desk/drawer.urdf.xacro
+share/hpp_environments/urdf/drawer_desk/table.urdf.xacro
+share/hpp_environments/urdf/drawer_desk/table_leg.urdf.xacro
+share/hpp_environments/urdf/hrp2/floor_as_mesh.urdf
+share/hpp_environments/urdf/placard-vertical.urdf
+share/hpp_environments/urdf/placard.urdf
+share/hpp_environments/urdf/scene.urdf
+share/hpp_environments/urdf/tests/baxter_simple.urdf
+share/hpp_environments/urdf/ur_benchmark/box.urdf
+share/hpp_environments/urdf/ur_benchmark/ground.urdf
+share/hpp_environments/urdf/ur_benchmark/obstacle_sphere.urdf
+share/hpp_environments/urdf/ur_benchmark/obstacles.urdf
+share/hpp_environments/urdf/ur_benchmark/pokeball.urdf
+share/hpp_environments/urdf/ur_benchmark/table.urdf
+share/hpp_environments/urdf/ur_benchmark/wall.urdf
diff --git a/hpp-environments/depend.mk b/hpp-environments/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..35e17d4b97cc9eb17e6fd119fec8056c61189498
--- /dev/null
+++ b/hpp-environments/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for:	wip/hpp-environments
+# Created:			Guilhem Saurel on Fri, 19 Oct 2018
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+HPPENVIRONMENTS_DEPEND_MK:=	${HPPENVIRONMENTS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		hpp-environments
+endif
+
+ifeq (+,$(HPPENVIRONMENTS_DEPEND_MK)) # --------------------------------------
+
+PREFER.hpp-environments?=	robotpkg
+
+DEPEND_USE+=		hpp-environments
+
+DEPEND_ABI.hpp-environments?=	hpp-environments>=4.2.0
+DEPEND_DIR.hpp-environments?=	../../wip/hpp-environments
+
+SYSTEM_SEARCH.hpp-environments=\
+	include/hpp/environments/config.hh	\
+	'lib/pkgconfig/hpp-environments.pc:/Version/s/[^0-9.]//gp'
+
+endif # HPPENVIRONMENTS_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/hpp-environments/distinfo b/hpp-environments/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..ccf6435f6dd6ac8a0d69c599ea768ad1f6d390ee
--- /dev/null
+++ b/hpp-environments/distinfo
@@ -0,0 +1,3 @@
+SHA1 (hpp-environments-4.2.0.tar.gz) = 97aab2797bfb7988c3115e99b2bd1a853a047f97
+RMD160 (hpp-environments-4.2.0.tar.gz) = 9a6d974e114e373325c9835a4952359bc73b34bb
+Size (hpp-environments-4.2.0.tar.gz) = 1708721 bytes