diff --git a/Makefile b/Makefile
index 624270da8d448f655845f19dd84e12ab54cf59f5..504c94c9c97c32d03689011b7c6e79999472f2d4 100644
--- a/Makefile
+++ b/Makefile
@@ -142,7 +142,6 @@ SUBDIR+= sot-talos-balance
SUBDIR+= sot-tiago
SUBDIR+= sot-tools-v3
SUBDIR+= sot-torque-control
-SUBDIR+= spark-genom
SUBDIR+= talos-data
SUBDIR+= talos-dev
SUBDIR+= talos-metapkg-ros-control-sot
diff --git a/spark-genom/DESCR b/spark-genom/DESCR
deleted file mode 100644
index 57683de8e4a6dd5c634e25f7b260835dfd39c8d8..0000000000000000000000000000000000000000
--- a/spark-genom/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Spatial Reasoning and Knowledge module
diff --git a/spark-genom/Makefile b/spark-genom/Makefile
deleted file mode 100644
index 0f7620d7162d77e10367a483086780e362ce6fec..0000000000000000000000000000000000000000
--- a/spark-genom/Makefile
+++ /dev/null
@@ -1,100 +0,0 @@
-# Created: Severin Lemaignan on Fri, 24 Sep 2010
-#
-
-DISTNAME= spark-genom-3.9
-CATEGORIES= knowledge
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=spark-genom/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_OPENROBOTS_TRAC}spark-genom
-
-MAINTAINER= robotpkg@laas.fr
-COMMENT= Spatial Reasoning and Knowledge module
-
-#spark-genom is currently GPL because it depends on BioMove3D that depends itself
-# on GSL and GLPK that are 2 GLP librairies.
-LICENSE= gnu-gpl-v2
-
-
-#######################
-#### SPARK OPTIONS ####
-#######################
-
-PKG_OPTIONS_OPTIONAL_GROUPS= robot
-PKG_OPTIONS_GROUP.robot= pr2
-
-##
-## PR2
-##
-PKG_OPTION_DESCR.pr2= Compile SPARK with support for PR2
-
-define PKG_OPTION_SET.pr2
- GENOM_ARGS+= -DPR2
- GENOM_ARGS+= -DUSE_GLUT
- include ../../interfaces/openrobots-pose/depend.mk
-endef
-
-##
-## Simulation
-##
-PKG_SUPPORTED_OPTIONS+= simulation
-PKG_OPTION_DESCR.simulation= Compile SPARK for simulation only
-PKG_OPTION_SET.simulation:= GENOM_ARGS+= -DSIMULATION
-
-##
-## Ontology server
-##
-PKG_SUPPORTED_OPTIONS+= oro
-#PKG_SUGGESTED_OPTIONS+= oro
-PKG_OPTION_DESCR.oro= Enable the support of ORO ontology server
-
-define PKG_OPTION_SET.oro
- GENOM_ARGS+= -DORO
- include ../../knowledge/liboro/depend.mk
-endef
-
-##
-## USE_MIGHTABILITY_MAPS option
-##
-PKG_SUPPORTED_OPTIONS+= mightability
-PKG_OPTION_DESCR.mightability= Enable mightabilities functions
-
-define PKG_OPTION_SET.mightability
- GENOM_ARGS+= -DUSE_MIGHTABILITY_MAPS
-endef
-
-PKG_SUGGESTED_OPTIONS+= mightability
-
-##
-## Attentional
-##
-PKG_SUPPORTED_OPTIONS+= attentional
-PKG_OPTION_DESCR.attentional= Compile SPARK with the attentional plugin
-define PKG_OPTION_SET.attentional
- GENOM_ARGS+= -DATTENTIONAL
- include ../../wip/attentional-genom/depend.mk
-endef
-
-#####################
-
-GENOM_MODULE= spark
-
-## BioMove3D dependency
-## Build BioMove3D with the "Jido" profile to get all required options for
-# HRI with BioMove3D
-REQD_BUILD_OPTIONS.BioMove3D:= jido
-
-include ../../wip/libmove3d/depend.mk
-include ../../wip/libmove3d-hri/depend.mk
-
-include ../../architecture/genom/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../image/viman-genom/depend.mk
-include ../../image/niut-genom/depend.mk
-include ../../interfaces/genBasic-genom/depend.mk
-include ../../interfaces/genHum-genom/depend.mk
-include ../../localization/mocap-genom/depend.mk
-include ../../localization/pom-genom/depend.mk
-include ../../manipulation/genManip-genom/depend.mk
-include ../../math/t3d/depend.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/spark-genom/PLIST b/spark-genom/PLIST
deleted file mode 100644
index 39e4a14abd840c85a0f5af3d6f2b60401dc401f6..0000000000000000000000000000000000000000
--- a/spark-genom/PLIST
+++ /dev/null
@@ -1,24 +0,0 @@
-@comment Tue Nov 9 00:57:15 CET 2010
-bin/spark
-bin/sparkSendInitRqst
-bin/sparkTest
-include/spark/server/sparkEndian.h
-include/spark/server/sparkError.h
-include/spark/server/sparkMsgLib.h
-include/spark/server/sparkPosterLib.h
-include/spark/server/sparkPosterLibStruct.h
-include/spark/server/sparkPosterReadLibProto.h
-include/spark/server/sparkPosterShowLib.h
-include/spark/server/sparkPosterWriteLibProto.h
-include/spark/server/sparkPosterXMLLib.h
-include/spark/server/sparkPrint.h
-include/spark/server/sparkPrintXML.h
-include/spark/server/sparkScan.h
-include/spark/server/sparkType.h
-include/spark/sparkConst.h
-include/spark/sparkStruct.h
-lib/libsparkClient.la
-lib/pkgconfig/spark.pc
-lib/tclserv/libsparkTclServ.la
-share/modules/gen/spark.gen
-share/modules/tcl/sparkClient.tcl
diff --git a/spark-genom/depend.mk b/spark-genom/depend.mk
deleted file mode 100644
index 24b0e731f1f20b911156012aad67a85cac1cd472..0000000000000000000000000000000000000000
--- a/spark-genom/depend.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-# Created: Severin Lemaignan on Fri 24 Sep 2010
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-SPARK-GENOM_DEPEND_MK:= ${SPARK-GENOM_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= spark-genom
-endif
-
-ifeq (+,$(SPARK-GENOM_DEPEND_MK)) # ----------------------------------
-
-PREFER.spark-genom?= robotpkg
-
-SYSTEM_SEARCH.spark-genom=\
- include/spark/sparkStruct.h \
- lib/pkgconfig/spark.pc \
- bin/spark
-
-DEPEND_USE+= spark-genom
-
-DEPEND_ABI.spark-genom?=spark-genom>=3.9
-DEPEND_DIR.spark-genom?=../../wip/spark-genom
-
-endif # SPARK-GENOM_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/spark-genom/distinfo b/spark-genom/distinfo
deleted file mode 100644
index 124277e48246174a7f3d09f561b098f489c20faa..0000000000000000000000000000000000000000
--- a/spark-genom/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (spark-genom-3.9.tar.gz) = 270f504d3c16fdf9088fbe5c610cb996e73c8ad1
-RMD160 (spark-genom-3.9.tar.gz) = 532165ee41df5be18ffd7279ebd41eaa5af673df
-Size (spark-genom-3.9.tar.gz) = 107940 bytes
-SHA1 (patch-ab) = 7fdd343d6544cb402daf0d2c3126c1157aeafb00
diff --git a/spark-genom/patches/patch-ab b/spark-genom/patches/patch-ab
deleted file mode 100644
index 20c8bdb6df4646b0b7d03b172525130eb0a6063d..0000000000000000000000000000000000000000
--- a/spark-genom/patches/patch-ab
+++ /dev/null
@@ -1,16 +0,0 @@
-Fix declaration in jido case
-
-fingers is used in interface, so it is required, not only codel required
-
---- spark.gen.orig 2012-12-19 17:42:16.473233581 +0100
-+++ spark.gen 2012-12-19 17:43:14.697235797 +0100
-@@ -18,7 +18,8 @@
- codels_requires: attentional;
- #endif
- #if defined(JIDO)
-- codels_requires: pom-euler, gbM, fingers;
-+ codels_requires: pom-euler, gbM;
-+ requires: fingers;
- #endif
- #if defined(HRP2)
- requires: hrp2, gest, viman;