OpenPRS is an open source version of PRS (Procedural Reasoning Systems). It is based on C-PRS and Propice... which were themselves inspired from the Lisp PRS originally developed at SRI International by Félix Ingrand and then others. PRS has been used for a wide variety of applications, from mobile robot execution control to Space Shuttle operational procedure execution. OpenPRS has been written and is maintained by Félix Ingrand and is now made available under a BSD-style license. OpenPRS is used as a "Procedural Executive" in the LAAS Architecture (see Felix Ingrand publications page for references and papers describing this). To make this "integration" seamless and painless, we have developed a tool TransGen which allows to connect OpenPRS to modules defined with GenoM. The most recent version of GenoM, which is middleware independent, can also be used. In which case, use TransGen3 which allows to connect OpenPRS to modules defined with GenoM3.