diff --git a/robot_capsule_urdf/DESCR b/robot_capsule_urdf/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..5bc4dfd562562b8c2d4de9f2cdf905d82b54fac1
--- /dev/null
+++ b/robot_capsule_urdf/DESCR
@@ -0,0 +1,3 @@
+Robot capsule URDF
+Put capsule on a robot from its URDF description.
+ 
diff --git a/robot_capsule_urdf/Makefile b/robot_capsule_urdf/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..77e8176e7d414638c22f7d4296fa926b7a4a43ce
--- /dev/null
+++ b/robot_capsule_urdf/Makefile
@@ -0,0 +1,23 @@
+# robotpkg Makefile for:	graphics/robot_capsule_urdf
+# Created:			Olivier Stasse on Fri, 19 Jun 2015
+#
+VERSION=		1.0.0
+DISTNAME=		robot_capsule_urdf-${VERSION}
+PKGNAME=		robot_capsule_urdf-${VERSION}
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=robot_capsule_urdf/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}laas/robot_capsule_urdf
+
+CATEGORIES=		graphics
+COMMENT=		Provides capsule description of the robots
+# (model copyright hold by Aldebaran Robotics) 
+LICENSE=		2-clause-bsd
+MAINTAINER=		hpp@laas.fr
+
+DYNAMIC_PLIST_DIRS+=	share/doc/robot_capsule_urdf
+
+include ../../devel/ros-catkin/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/robot_capsule_urdf/depend.mk b/robot_capsule_urdf/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..e950f997fc90a99decb5889ec06b574b9b7fd5d2
--- /dev/null
+++ b/robot_capsule_urdf/depend.mk
@@ -0,0 +1,26 @@
+# robotpkg depend.mk for:	graphics/robot_capsule_urdf
+# Created:			Olivier Stasse on Wed, 19 Jun 2015
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+ROBOT_CAPSULE_URDF_DEPEND_MK:=	${ROBOT_CAPSULE_URDF_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		robot-capsule-robot-urdf
+endif
+
+ifeq (+,$(ROMEO_DEPEND_MK)) # -------------------------------------------
+
+PREFER.robot-capsule-robot-urdf?=	robotpkg
+
+SYSTEM_SEARCH.robot-capsule-robot-urdf=\
+	'lib/pkgconfig/robot-capsule-robot-urdf.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		robot-capsule-robot-urdf
+
+DEPEND_ABI.robot-capsule-robot-urdf?=	robot-capsule-robot-urdf>=1.0.0
+DEPEND_DIR.robot-capsule-robot-urdf?=	../../robots/robot-capsule-robot-urdf
+
+endif # ROBOT_CAPSULE_URDF_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/robot_capsule_urdf/distinfo b/robot_capsule_urdf/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..ff9310835d3431e7ab2da26b2401bb24821a5e4b
--- /dev/null
+++ b/robot_capsule_urdf/distinfo
@@ -0,0 +1,3 @@
+SHA1 (robot_capsule_urdf-1.0.0.tar.gz) = 7b7266e0d6faecb7f1266e8332196bce6fd979b8
+RMD160 (robot_capsule_urdf-1.0.0.tar.gz) = b9cbba9a5c49b89d5fd1a4e435ec6b9fde3b3332
+Size (robot_capsule_urdf-1.0.0.tar.gz) = 75362 bytes