diff --git a/BioMove3D/Makefile b/BioMove3D/Makefile
index be14f2199ca278ff8bb3d64a68bf3f845e660232..ea52615032142283397e6e6208fcd394320649bd 100644
--- a/BioMove3D/Makefile
+++ b/BioMove3D/Makefile
@@ -13,31 +13,45 @@ COMMENT= Motion planning and geometric reasonning module
# on GSL and GLPK that are 2 GLP librairies.
LICENSE= gnu-gpl-v2
-
USE_LANGUAGES+= c c++
CMAKE_ARGS+= -DEigen_INCLUDE_DIR=${PREFIX.eigen2}/include/eigen2
CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
CMAKE_ARGS+= -DBOOST_LIBRARYDIR=${PREFIX.boost-libs}/lib
-PKG_OPTIONS_REQUIRED_GROUPS= robot
-PKG_OPTIONS_GROUP.robot= jido
+PKG_OPTIONS_REQUIRED_GROUPS= mode
+PKG_OPTIONS_GROUP.mode= standalone jido
-PKG_SUGGESTED_OPTIONS+= jido
+##
+## Option standalone
+##
+PKG_OPTION_DESCR.standalone= Compile BioMove3D as an executable
+define PKG_OPTION_SET.standalone
-PKG_OPTION_DESCR.jido= Compile BioMove3D for Jido
+endef
+
+##
+## Option jido
+##
+PKG_OPTION_DESCR.jido= Compile BioMove3D for Jido as a library only
define PKG_OPTION_SET.jido
CMAKE_ARGS+= -DCOMPILE_ON_JIDO=ON
+ CMAKE_ARGS+= -DMAKELIB=ON
+
include ../../mk/sysdep/gsl.mk
include ../../wip/pqp-libs/depend.mk
include ../../math/gbM/depend.mk
include ../../motion/softMotion-libs/depend.mk
-
endef
+
+## Default option
+PKG_SUGGESTED_OPTIONS+= jido
+
+## Common includes
include ../../mk/sysdep/cmake.mk
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
diff --git a/BioMove3D/PLIST b/BioMove3D/PLIST
index 7e6749a0ff7ba7bb765cfa0eda07211b906b68a2..828164ff62ddc55118978e345769959f8a8d81a0 100644
--- a/BioMove3D/PLIST
+++ b/BioMove3D/PLIST
@@ -1,5 +1,6 @@
@comment Wed Sep 1 14:16:10 CEST 2010
-bin/move3d
+${PLIST.standalone}bin/move3d
+${PLIST.jido}lib/libm3d.so
include/BioMove3D/animation/proto/anim_charac_traj_interface_proto.h
include/BioMove3D/animation/proto/anim_charac_traj_proto.h
include/BioMove3D/animation/proto/anim_compute_path_interface_proto.h
diff --git a/BioMove3D/depend.mk b/BioMove3D/depend.mk
index 5858d7f3134c1cb7288f03c1674c9c2b1562429d..6a909f1c449d6e99ec5b7a15217d5f2e394948d2 100644
--- a/BioMove3D/depend.mk
+++ b/BioMove3D/depend.mk
@@ -27,8 +27,8 @@ ifeq (+,$(BIOMOVE3D_DEPEND_MK)) # ----------------------------------
PREFER.BioMove3D?= robotpkg
SYSTEM_SEARCH.BioMove3D=\
- include/?? \
- lib/??
+ include/BioMove3D/include/move3d.h \
+ lib/libm3d.so
DEPEND_USE+= BioMove3D
diff --git a/gest-genom/DESCR b/gest-genom/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..a0175e3b75faa9f07359ad4c1c26605149a276ce
--- /dev/null
+++ b/gest-genom/DESCR
@@ -0,0 +1 @@
+GeNoM module for human posture recognition, based on skin patches detection
diff --git a/gest-genom/Makefile b/gest-genom/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c9d9aea65ba98376303c4815c275e6aa099d2773
--- /dev/null
+++ b/gest-genom/Makefile
@@ -0,0 +1,24 @@
+# robotpkg Makefile for: hri/gest-genom
+# Created: Severin Lemaignan on Tue, 31 Aug 2010
+#
+
+DISTNAME= gest-genom-1.0
+CATEGORIES= image
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=gest-genom/}
+MASTER_REPOSITORY= git ssh://softs/git/robots/gest-genom
+
+MAINTAINER= openrobots@laas.fr
+COMMENT= GeNoM module for human posture recognition, based on skin patches detection
+LICENSE= isc
+
+
+USE_LANGUAGES+= c c++
+
+GENOM_MODULE= gest
+
+include ../../localization/pom-genom/depend.mk
+include ../../image/viam-libs/depend.mk
+include ../../image/opencv/depend.mk
+include ../../architecture/genom/depend.mk
+
+include ../../mk/robotpkg.mk
diff --git a/gest-genom/PLIST b/gest-genom/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..519027bfa141c7d7f1c3cf2487faf134f66d4ec3
--- /dev/null
+++ b/gest-genom/PLIST
@@ -0,0 +1,40 @@
+@comment Wed Sep 01 2010
+${PLIST.noapi}bin/gest
+${PLIST.noapi}bin/gestSendInitRqst
+${PLIST.noapi}bin/gestTest
+include/gest/libeuler/gestEuler.h
+include/gest/gestConst.h
+include/gest/gestStruct.h
+${PLIST.openprs}include/gest/server/openprs/gestDecodeOpenprs.h
+${PLIST.openprs}include/gest/server/openprs/gestEncodeOpenprs.h
+${PLIST.openprs}include/gest/server/openprs/gestRequestsOpenprsProto.h
+include/gest/server/gestEndian.h
+include/gest/server/gestError.h
+${PLIST.noapi}include/gest/server/gestMsgLib.h
+include/gest/server/gestPosterLib.h
+include/gest/server/gestPosterLibStruct.h
+${PLIST.noapi}include/gest/server/gestPosterReadLibProto.h
+${PLIST.noapi}include/gest/server/gestPosterShowLib.h
+${PLIST.noapi}include/gest/server/gestPosterWriteLibProto.h
+${PLIST.noapi}include/gest/server/gestPosterXMLLib.h
+include/gest/server/gestPrint.h
+include/gest/server/gestPrintXML.h
+include/gest/server/gestScan.h
+include/gest/server/gestType.h
+${PLIST.tclserv_client}include/gest/server/tclservClient/gestTclservClientDecode.h
+${PLIST.tclserv_client}include/gest/server/tclservClient/gestTclservClientEncode.h
+${PLIST.tclserv_client}include/gest/server/tclservClient/gestTclservClientMsgLib.h
+lib/libgestClient.la
+lib/libgestEuler.la
+${PLIST.openprs}lib/openprs/libgestOpenprs.la
+lib/pkgconfig/gest-euler.pc
+${PLIST.openprs}lib/pkgconfig/gest-oprs.pc
+lib/pkgconfig/gest.pc
+${PLIST.tclserv_client}lib/pkgconfig/gest-tclserv_client.pc
+${PLIST.tclserv_client}lib/tclservClient/libgestTclservClient.la
+${PLIST.noapi}${PLIST.tcl}lib/tclserv/libgestTclServ.la
+share/modules/gen/gest.gen
+${PLIST.openprs}share/modules/openprs/gestOpenprs.inc
+${PLIST.openprs}share/modules/openprs/gestOpenprs.opf
+${PLIST.openprs}share/modules/openprs/gestOpenprs.sym
+${PLIST.tcl}share/modules/tcl/gestClient.tcl
diff --git a/gest-genom/depend.mk b/gest-genom/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..a4c870213ad640e4cc93086607c0613e2f4150a7
--- /dev/null
+++ b/gest-genom/depend.mk
@@ -0,0 +1,41 @@
+# Copyright (c) 2010 LAAS/CNRS
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are
+# met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+#
+# Severin Lemaignan on Tue 31 Aug 2010
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+GEST-GENOM_DEPEND_MK:= ${GEST-GENOM_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= gest-genom
+endif
+
+ifeq (+,$(GEST-GENOM_DEPEND_MK)) # ----------------------------------
+
+PREFER.gest-genom?= robotpkg
+
+SYSTEM_SEARCH.gest-genom=\
+ include/gest/gestStruct.h \
+ lib/pkgconfig/gest.pc \
+ bin/gest
+
+DEPEND_USE+= gest-genom
+
+DEPEND_ABI.gest-genom?=gest-genom>=1.0
+DEPEND_DIR.gest-genom?=../../image/gest-genom
+
+endif # GEST-GENOM_DEPEND_MK ----------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/gest-genom/distinfo b/gest-genom/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..df5bde82ae28e43dcf7097aec1854f696dd31c71
--- /dev/null
+++ b/gest-genom/distinfo
@@ -0,0 +1,3 @@
+SHA1 (gest-genom-1.0.tar.gz) = ac64f98c82f7f12cef2f8c8c09faed36e179fb16
+RMD160 (gest-genom-1.0.tar.gz) = 9433c241ad24a0ddea3a8466a08b19d9bb13e6a1
+Size (gest-genom-1.0.tar.gz) = 1391642 bytes