diff --git a/Makefile b/Makefile
index 96385fd1768483fc91bb25ab4ab08bcea58f88b3..0a270f8f745f460d91cfa30bb50c026eb3fe38fa 100644
--- a/Makefile
+++ b/Makefile
@@ -41,7 +41,6 @@ SUBDIR+= libhatp
SUBDIR+= libmove3d
SUBDIR+= libmove3d-hri
SUBDIR+= libmove3d-planners
-SUBDIR+= metapod
SUBDIR+= morse-ros
SUBDIR+= msgconnector
SUBDIR+= multicontact-api
diff --git a/metapod/DESCR b/metapod/DESCR
deleted file mode 100644
index bd4e7a028c83e3cb18c21d314c9256f363ec7062..0000000000000000000000000000000000000000
--- a/metapod/DESCR
+++ /dev/null
@@ -1,13 +0,0 @@
-This software provides robot dynamics algorithms. It uses a
-combination of a specific representation of robot models and C++
-templates, such that each algorithm remains model-independant, yet is
-optimized for a particular robot at compile-time.
-
-As of today, the following algorithms have been implemented:
-- RNEA (Recursive Newton Euler Algorithm) for inverse dynamics.
-
-This software is designed to be a low-level library, performance is
-thus a key issue. For increased performance, it is strongly
-recommended to add the "-march=native -mfpmath=sse" flags to the
-CXXFLAGS.metapod variable in $ROBOTPKG_BASE/etc/robotpkg.conf before
-installing it.
diff --git a/metapod/Makefile b/metapod/Makefile
deleted file mode 100644
index fff3505f057a718bcb87a98eff4ec414c0474f30..0000000000000000000000000000000000000000
--- a/metapod/Makefile
+++ /dev/null
@@ -1,35 +0,0 @@
-# robotpkg Makefile for: math/metapod
-# Created: Antonio El Khoury on Wed, 29 Feb 2012
-#
-
-PKGBASE= metapod
-VERSION= 1.0.10
-DISTNAME= ${PKGBASE}-${VERSION}
-PKGNAME= ${PKGBASE}-${VERSION}
-PKGREVISION=
-
-CATEGORIES= math
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${PKGBASE}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/laas/${PKGBASE}
-
-COMMENT= Template-based rigid body dynamics library.
-
-LICENSE= gnu-gpl-v3
-MAINTAINER= gepetto@laas.fr
-
-DOXYGEN_PLIST_DIR+= share/doc/${PKGBASE}
-
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DBOOST_LIBRARYDIR=${PREFIX.boost-libs}/lib
-
-include ../../math/eigen3/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/doxygen.mk
-include ../../mk/sysdep/graphviz.mk
-include ../../mk/sysdep/pdflatex.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/metapod/PLIST b/metapod/PLIST
deleted file mode 100644
index 3ba156b9ffba4f97270f10b8930a558cf1962dbf..0000000000000000000000000000000000000000
--- a/metapod/PLIST
+++ /dev/null
@@ -1,67 +0,0 @@
-@comment Mon Mar 5 18:07:08 CET 2012
-include/metapod/algos/rnea.hh
-include/metapod/config.hh
-include/metapod/deprecated.hh
-include/metapod/tools/common.hh
-include/metapod/tools/fwd.hh
-include/metapod/tools/initconf.hh
-include/metapod/tools/print.hh
-include/metapod/tools/spatial.hh
-include/metapod/warning.hh
-lib/pkgconfig/metapod.pc
-bin/metapod_binarytreemodel
-include/metapod/timer/config.hh
-include/metapod/timer/timer.hh
-include/metapod/algos/jac.hh
-include/metapod/algos/jac_point_chain.hh
-include/metapod/algos/crba.hh
-include/metapod/algos/jac_point_relative.hh
-include/metapod/macro.hh
-include/metapod/tools/initnufwddyn.hh
-include/metapod/tools/is_ancestor.hh
-include/metapod/tools/joint-aboutzaxis.hh
-include/metapod/tools/joint-aboutyaxis.hh
-include/metapod/tools/has_parent.hh
-include/metapod/tools/joint-aboutxaxis.hh
-include/metapod/tools/static_assert.hh
-include/metapod/tools/deepest_common_ancestor.hh
-include/metapod/tools/backward.hh
-include/metapod/tools/constants.hh
-include/metapod/tools/initnodeidconf.hh
-include/metapod/tools/joint-freeflyer.hh
-include/metapod/tools/backward_traversal_prev.hh
-include/metapod/tools/jac_point_robot.hh
-include/metapod/tools/jcalc.hh
-include/metapod/tools/bcalc.hh
-include/metapod/tools/qcalc.hh
-include/metapod/tools/spatial/motion.hh
-include/metapod/tools/spatial/rm-identity.hh
-include/metapod/tools/spatial/rm-chgaxis.hh
-include/metapod/tools/spatial/force.hh
-include/metapod/tools/spatial/constraintmotion.hh
-include/metapod/tools/spatial/cm-oneaxis.hh
-include/metapod/tools/spatial/rm-mulop.hh
-include/metapod/tools/spatial/cm-freeflyer.hh
-include/metapod/tools/spatial/rm-general.hh
-include/metapod/tools/spatial/rm-aboutzaxis.hh
-include/metapod/tools/spatial/lti.hh
-include/metapod/tools/spatial/cm-anyaxis.hh
-include/metapod/tools/spatial/inertia.hh
-include/metapod/tools/spatial/rm-binaryop.hh
-include/metapod/tools/spatial/rm-aboutxaxis.hh
-include/metapod/tools/spatial/transform.hh
-include/metapod/tools/spatial/rotation-matrix.hh
-include/metapod/tools/spatial/rm-aboutyaxis.hh
-include/metapod/tools/joint.hh
-include/metapod/tools/depth_first_traversal.hh
-include/metapod/tools/backward_traversal.hh
-include/metapod/tools/joint-anyaxis.hh
-lib/libmetapod_robotbuilder.so
-share/cmake/metapod.cmake
-share/metapod/data/simple_humanoid/metapod_license_file.txt
-share/metapod/data/simple_humanoid/simple_humanoid.config
-share/metapod/data/simple_humanoid/simple_humanoid.urdf
-share/metapod/data/simple_arm/metapod_license_file.txt
-share/metapod/data/simple_arm/simple_arm.config
-share/metapod/data/simple_arm/simple_arm.urdf
-bin/metapodfromurdf
diff --git a/metapod/depend.mk b/metapod/depend.mk
deleted file mode 100644
index 0f7959ec35003df469fbf22c2452dc0d99deadca..0000000000000000000000000000000000000000
--- a/metapod/depend.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-# robotpkg depend.mk for: math/metapod
-# Created: Antonio El Khoury on Wed, 29 Feb 2012
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-METAPOD_DEPEND_MK:= ${METAPOD_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= metapod
-endif
-
-ifeq (+,$(METAPOD_DEPEND_MK)) # ---------------------------
-
-PREFER.metapod?= robotpkg
-
-DEPEND_USE+= metapod
-
-DEPEND_ABI.metapod?= metapod>=1.0.1
-DEPEND_DIR.metapod?= ../../math/metapod
-
-SYSTEM_SEARCH.metapod= \
- include/metapod/algos/rnea.hh \
- 'lib/pkgconfig/metapod.pc:/Version/s/[^0-9.]//gp'
-
-endif # METAPOD_DEPEND_MK ---------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/metapod/distinfo b/metapod/distinfo
deleted file mode 100644
index 60056e55a1fa5334d0c484d75f55b1402a4d2d2c..0000000000000000000000000000000000000000
--- a/metapod/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (metapod-1.0.10.tar.gz) = 8f672d56827b527ecd57107ff8818a7473a12503
-RMD160 (metapod-1.0.10.tar.gz) = 6e49b36fb9603cf6cf5fd56a5e01dddfba172ba2
-Size (metapod-1.0.10.tar.gz) = 991224 bytes