diff --git a/README.md b/README.md
index 3d0b5d665638ee3bd735ad6bebb8643b747481f4..4f1bbf7631b72fc44b06ad7484e4becfe562eb28 100644
--- a/README.md
+++ b/README.md
@@ -4,53 +4,76 @@ Copyright 2015 LAAS-CNRS
 
 Author: Steve Tonneau
 
-##Description
+## Description
 hpp-rbprm-corba implements python bindings for hpp-rbprm, and presents a few example files.
-Please refer to this [link](https://github.com/stonneau/hpp-rbprm) for information on hpp-rbprm.
+Please refer to this [link](https://github.com/humanoid-path-planner/hpp-rbprm) for information on hpp-rbprm.
 
-##Installation on ubuntu-14.04 64 bit with ros-indigo
+## Installation from binary package repository
 
-To install hpp-rbprm-corba:
+1. Add robotpkg to your apt configuration: http://robotpkg.openrobots.org/debian.html
+2. `sudo apt update && sudo apt install robotpkg-hpp-rbprm-corba`
+3. Then, you will need to export some variables to allow you system to find the executables:
 
-  1. Install HPP-RBPRM and its dependencies
-	- see https://github.com/stonneau/hpp-rbprm
+`export PATH=${PATH:+$PATH:}/opt/openrobots/bin:/opt/openrobots/sbin`
 
-  2. Install HPP-AFFORDANCE-CORBA along with its dependencies
-  - see https://github.com/anna-seppala/hpp-affordance-corba
+`export MANPATH=${MANPATH:+$MANPATH:}/opt/openrobots/man`
 
-  3. Use CMake to install the library. For instance:
+`export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH`
 
-			mkdir $HPP_RBPRM_CORBA_DIR/build
-			cd $HPP_RBPRM_CORBA_DIR/build
-			cd cmake ..	
-			make install
-	
+`export ROS_PACKAGE_PATH="$ROS_PACKAGE_PATH:/opt/openrobots/share"`
 
+`export DEVEL_HPP_DIR=/opt/openrobots/`
 
-##Documentation
+(you may want to add these to your .bashrc file)
+
+## Installation From source on ubuntu-16.04 64 bit with ros-kinetic
+
+1. Follow this instructions : http://humanoid-path-planner.github.io/hpp-doc/download.html (select 'Devellopement" in the list)
+2. Once this installation is complete, run `make rbprm`
+
+## Optional: installing viewer and python bindings for dependencies
+
+If you are planning to use the visualization tools used by the Gepetto team, along with python examples, you may need a few extra steps:
+
+1. Install the gepetto-viwer server
+
+`sudo apt install -qqy robotpkg-py27-qt4-gepetto-viewer-corba`
+
+`sudo apt install -qqy robotpkg-py27-qt4-hpp-gepetto-viewer`
+
+2. Install the pinocchio bindings
+
+`sudo apt install -qqy robotpkg-py27-pinocchio`
+
+3. Install the dae extension for osg
+
+`sudo apt install -qqy robotpkg-osg-dae`
+
+## Documentation
 
   Open $DEVEL_DIR/install/share/doc/hpp-rbprm-corba/doxygen-html/index.html in a web brower and you
   will have access to the code documentation. If you are using ipython, the documentation of the methods implemented
   is also directly available in a python console.
 
-##Example
-
-  To see the planner in action, two examples from our IJRR submission with HyQ are available. Examples with HRP-2 are also provided,
-  though they can only be executed if you have access to HRP-2 model.
+## Example
 
+  To see the planner in action, one example from our IJRR submission with HyQ is available. Examples with HRP-2 are also provided, though they can only be executed if you have access to HRP-2 model.
 
-  - First of all, retrieve and build the HyQ model from its github repository:
-	https://github.com/iit-DLSLab/hyq-description
+  - If you installed the planner form binaries, you need to download the scripts as explained here. Otherwise you can find them directly in script/scenarios/demos folder. For the binary proceudre, create a folder and cd in to it, then type
 
 
-    ```$ rosrun xacro xacro.py  hyq_description/robots/hyq_model.urdf.xacro -o  hyq.urdf```
+   `wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/master/script/scenarios/demos/darpa_hyq.py`
+                                                                             
+`wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/master/script/scenarios/demos/darpa_hyq_path.py`
+                                                                             
+`wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/devel/script/scenarios/demos/run.sh`
 
-  - Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
+  -  Make the run.sh script executable:`chmod +x run.sh`
 
   - The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios/demos.
 
   - To see the different steps of the process run
 
-    ```$ ./run.sh darpa_hyq_path.py```
+    ``$ ./run.sh darpa_hyq.py`
 
   The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.