diff --git a/src/lisp/kinematics-extras/kinematics-extras.asd b/src/lisp/kinematics-extras/kinematics-extras.asd
new file mode 100644
index 00000000..66b91d76
--- /dev/null
+++ b/src/lisp/kinematics-extras/kinematics-extras.asd
@@ -0,0 +1,10 @@
+(asdf:defsystem #:kinematics-extras
+    :description "Extra code for kinematics"
+    :version "0.0.1"
+    :author "Christian Schafmeister <chris.schaf@verizon.net>"
+    :licence "LGPL-3.0"
+    :depends-on ()
+    :serial t
+    :components ((:file "packages")
+                 (:file "kinematics")
+                 ))
diff --git a/src/lisp/kinematics-extras/kinematics.lisp b/src/lisp/kinematics-extras/kinematics.lisp
new file mode 100644
index 00000000..fd5159b7
--- /dev/null
+++ b/src/lisp/kinematics-extras/kinematics.lisp
@@ -0,0 +1,10 @@
+
+(in-package :kin)
+
+(define-condition kin:kinematics-error (error)
+  ()
+  (:report (lambda (condition stream)
+             (format stream "~a ~a" (class-name (class-of condition))))))
+
+(define-condition kin:undefined-internal-coordinates (kin:kinematics-error)
+  ((joint :initarg :joint :reader joint)))
diff --git a/src/lisp/kinematics-extras/packages.lisp b/src/lisp/kinematics-extras/packages.lisp
new file mode 100644
index 00000000..bf099c5b
--- /dev/null
+++ b/src/lisp/kinematics-extras/packages.lisp
@@ -0,0 +1,4 @@
+(defpackage #:kin.extras
+  (:use #:common-lisp)
+  (:export
+   ))