diff --git a/Makefile b/Makefile
index c85c0b4c4b7349c5d68dbf0547c58f1849996095..4bd91ef5a3dc4f6d72f746c351a728341591a6e1 100644
--- a/Makefile
+++ b/Makefile
@@ -27,6 +27,7 @@ SUBDIR+=	jrl-walkgen
 SUBDIR+=	kineo-pp
 SUBDIR+=	kpp-interface
 SUBDIR+=	kpp-interfacewalk
+SUBDIR+=	libply-vcg
 SUBDIR+=	stackoftasks
 
 include ../mk/robotpkg.subdir.mk
diff --git a/libply-vcg/DESCR b/libply-vcg/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..540dd6ff11b34b0d962bdf621d65181bdfccbfe6
--- /dev/null
+++ b/libply-vcg/DESCR
@@ -0,0 +1,5 @@
+This is the VCG modified PLY library. PLY library was initially written by Greg 
+Turk(http://www.cc.gatech.edu/~turk) to read an write files of ply format.
+Claudio Rocchini(http://en.wikipedia.org/wiki/User:Rocchini) tuned it for C++. 
+VCG comes with some improvements to make it better suit the templated C++ VCG 
+Library.
diff --git a/libply-vcg/Makefile b/libply-vcg/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..444389910a64cf44e384900004b20a5b197da4dd
--- /dev/null
+++ b/libply-vcg/Makefile
@@ -0,0 +1,41 @@
+# $LAAS: Makefile 2010/03/22 16:02:45 nksallem $
+#
+# Copyright (c) 2007-2010 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 and this list of conditions.
+#   2. Redistributions in binary form must reproduce the above copyright
+#      notice and  this list of  conditions in the  documentation and/or
+#      other materials provided with the distribution.
+#
+#                                      	 Nizar Sallem on Tue Aug 24 2010
+#
+
+DISTNAME=			vcglib-20100814
+PKGNAME=			vcg-libply-20100814
+CATEGORIES=		modeling devel
+MASTER_SITES=	${MASTER_SITE_ROBOTPKG}
+MASTER_REPOSITORY=\
+  svn \
+	https://vcg.svn.sourceforge.net/svnroot/vcg/trunk/vcglib 
+
+MAINTAINER=		openrobots@laas.fr
+HOMEPAGE=			http://vcg.sourceforge.net/index.php/VCGLib
+COMMENT=			C++ library for ply file manipulation.
+LICENSE=			gnu-gpl-v2
+
+
+WRKSRC=			${WRKDIR}/vcglib/wrap/ply
+
+USE_LANGUAGES+=		c c++
+USE_PKGLOCALEDIR=	yes
+
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
+post-extract:
+	 ${CP} ${FILESDIR}/CMakeLists.txt ${WRKSRC}
diff --git a/libply-vcg/PLIST b/libply-vcg/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..2c2d748a6a54bf23b048793c55a7b64ffca0c6ab
--- /dev/null
+++ b/libply-vcg/PLIST
@@ -0,0 +1,4 @@
+@comment Tue Aug 24 13:13:23 CEST 2010
+include/plylib.h
+include/plystuff.h
+lib/libply.so
diff --git a/libply-vcg/depend.mk b/libply-vcg/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..58de8a655c60dcb0d2d62bf62ab27d50427e95cc
--- /dev/null
+++ b/libply-vcg/depend.mk
@@ -0,0 +1,43 @@
+# $LAAS: depend.mk 2009/02/15 14:05:46 tho $
+#
+# Copyright (c) 2008-2009 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 and this list of conditions.
+#   2. Redistributions in binary form must reproduce the above copyright
+#      notice and  this list of  conditions in the  documentation and/or
+#      other materials provided with the distribution.
+#
+#                                      Anthony Mallet on Fri Oct 10 2008
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+VCG_PLY_DEPEND_MK:=		${VCG_PLY_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		vcg-libply
+endif
+
+ifeq (+,$(VCG_PLY_DEPEND_MK)) # -----------------------
+
+PREFER.vcg-libply?=		robotpkg
+
+SYSTEM_SEARCH.vcg-libply=\
+										include/ply/plylib.h	 \
+										include/ply/plystuff.h
+										lib/libply.so
+DEPEND_USE+=				vcg-libply
+
+DEPEND_ABI.vcg-libply?=	vcg-libply>=20100814
+DEPEND_DIR.vcg-libply?=	../../modeling/vcg-libply
+
+DEPEND_METHOD.vcg-libply?=	build
+
+endif # VCG_PLY_DEPEND_MK -----------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/libply-vcg/distinfo b/libply-vcg/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..fddd086ea7c8f1130f7ea9953877b8d9e897fd43
--- /dev/null
+++ b/libply-vcg/distinfo
@@ -0,0 +1,3 @@
+SHA1 (vcglib-20100814.tar.gz) = f5ebc66c425f6a8c34fdb7d7e6638cd18e71fa40
+RMD160 (vcglib-20100814.tar.gz) = a87c8167531f11bb8a7f135b8ee1c173c815b5b6
+Size (vcglib-20100814.tar.gz) = 1298159 bytes
diff --git a/libply-vcg/files/CMakeLists.txt b/libply-vcg/files/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0e0493c93316b836a3d5f98c062dc0c22a35d7f
--- /dev/null
+++ b/libply-vcg/files/CMakeLists.txt
@@ -0,0 +1,16 @@
+set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
+
+# it MUST go before PROJECT(Jafar) in order to work
+if (NOT CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX ${CMAKE_BINARY_DIR} CACHE INTERNAL "" FORCE)
+endif()
+
+cmake_minimum_required(VERSION 2.6.4 FATAL_ERROR)
+
+project(Ply CXX C)
+
+include_directories(${Ply_SOURCE_DIR})
+add_library(ply SHARED plylib.cpp)
+install(TARGETS ply DESTINATION lib)
+file(GLOB headers ${Ply_SOURCE_DIR}/*.h)
+install(FILES ${headers} DESTINATION include)