diff --git a/Makefile b/Makefile
index af766c6ae8e65d6829b4df347d634f7ac0ce9610..b5bf038cf429a41f744fd88ceca96e6789e478b8 100644
--- a/Makefile
+++ b/Makefile
@@ -77,7 +77,6 @@ SUBDIR+= pinocchio
SUBDIR+= pr2-pick-object
SUBDIR+= py-dynamic-graph-v3
SUBDIR+= py-eigen
-SUBDIR+= py-flann
SUBDIR+= py-hla
SUBDIR+= py-jsbsim
SUBDIR+= py-laaswm
diff --git a/py-flann/DESCR b/py-flann/DESCR
deleted file mode 100644
index bd99eb900b44ab7149709c4b7351509eeac31d3e..0000000000000000000000000000000000000000
--- a/py-flann/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-This package is for producing python bindings for flann.
diff --git a/py-flann/Makefile b/py-flann/Makefile
deleted file mode 100644
index 7259714b088d16813a44a776f259fae6138d8834..0000000000000000000000000000000000000000
--- a/py-flann/Makefile
+++ /dev/null
@@ -1,30 +0,0 @@
-# robotpkg Makefile for: math/flann
-# Created: Nizar Sallem on Tue, 28 Dec 2010
-#
-
-VERSION= 1.7.1
-DISTNAME= flann-${VERSION}-src
-PKGNAME= ${PKGTAG.python}-flann-${VERSION}
-MASTER_SITES= http://www.cs.ubc.ca/~mariusm/uploads/FLANN/
-EXTRACT_SUFX= .zip
-
-CATEGORIES= graphics
-COMMENT= Fast approximate nearest neighbor search for high dimension
-MAINTAINER= openrobots@laas.fr
-HOMEPAGE= http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN
-LICENSE= 2-clause-bsd
-
-CMAKE_ARGS+= -DBUILD_MATLAB_BINDINGS=OFF
-CMAKE_ARGS+= -DBUILD_PYTHON_BINDINGS=ON
-CMAKE_ARGS+= -DUSE_MPI=OFF
-CMAKE_ARGS+= -DBUILD_CUDA_LIB=OFF
-CMAKE_ARGS+= -DBUILD_C_BINDINGS=OFF
-CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
-
-include ../../graphics/flann/depend.mk
-
-include ../../mk/sysdep/python.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/py-flann/PLIST b/py-flann/PLIST
deleted file mode 100644
index fe6f5cb7cd547a29c43941803f5e845f84cfe078..0000000000000000000000000000000000000000
--- a/py-flann/PLIST
+++ /dev/null
@@ -1,40 +0,0 @@
-@comment Tue Mar 12 14:17:29 CET 2013
-${PYTHON_SITELIB}/pyflann/__init__.py
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/bindings/__init__.py
-${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/bindings/flann_ctypes.py
-${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/flann_ctypes${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/bindings/${PYTHON_PYCACHE}/flann_ctypes${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/exceptions.py
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/exceptions${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/exceptions${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/index.py
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/index${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/${PYTHON_PYCACHE}/index${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/io/__init__.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/io/binary_dataset.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/binary_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/binary_dataset${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/io/dat_dataset.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dat_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dat_dataset${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/io/dataset.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/dataset${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/io/hdf5_dataset.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/hdf5_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/hdf5_dataset${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/io/npy_dataset.py
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/npy_dataset${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/io/${PYTHON_PYCACHE}/npy_dataset${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/util/__init__.py
-${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/pyflann/util/weave_tools.py
-${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/weave_tools${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/pyflann/util/${PYTHON_PYCACHE}/weave_tools${PYTHON_TAG}.pyo
diff --git a/py-flann/depend.mk b/py-flann/depend.mk
deleted file mode 100644
index 7983c53b3ded0e463190148ecd58b89b5ffcf766..0000000000000000000000000000000000000000
--- a/py-flann/depend.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# robotpkg depend.mk for: math/py-flann
-# Created: Nizar Sallem on Wed, 20 Jul 2011
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-PY_FLANN_DEPEND_MK:= ${PY_FLANN_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= py-flann
-endif
-
-ifeq (+,$(PY_FLANN_DEPEND_MK)) # -------------------------------------------
-
-PREFER.py-flann?= robotpkg
-
-DEPEND_USE+= py-flann
-DEPEND_ABI.py-flann?= ${PKGTAG.python-}flann>=1.6.11
-DEPEND_DIR.py-flann?= ../../wip/py-flann
-
-SYSTEM_SEARCH.py-flann=\
- '${PYTHON_SYSLIBSEARCH}/pyflann/index.py'
-
-include ../../wip/flann/depend.mk
-include ../../mk/sysdep/python.mk
-
-endif # PY_FLANN_DEPEND_MK -------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-flann/distinfo b/py-flann/distinfo
deleted file mode 100644
index 05ba1c26ed03dbea254dd76aa7178aaf3e572935..0000000000000000000000000000000000000000
--- a/py-flann/distinfo
+++ /dev/null
@@ -1,5 +0,0 @@
-SHA1 (flann-1.7.1-src.zip) = 61b9858620528919ea60a2a4b085ccc2b3c2d138
-RMD160 (flann-1.7.1-src.zip) = cec1ce99d2c91ddf8f20d5aa8009a08c5347b904
-Size (flann-1.7.1-src.zip) = 582517 bytes
-SHA1 (patch-aa) = 11feeab66768072b4761cda5aa3c63ff85f73e67
-SHA1 (patch-ab) = 83a9b0c9ea815e5d69b3e96fc5056f7c5caa532b
diff --git a/py-flann/patches/patch-aa b/py-flann/patches/patch-aa
deleted file mode 100644
index 78f9bc13a0cbeb96ee2a6be9ba6828cbbe3bb253..0000000000000000000000000000000000000000
--- a/py-flann/patches/patch-aa
+++ /dev/null
@@ -1,33 +0,0 @@
---- CMakeLists.txt.orig 2011-12-23 12:16:09.000000000 +0100
-+++ CMakeLists.txt 2013-03-12 14:16:34.920354953 +0100
-@@ -47,10 +47,10 @@
-
- set(NVCC_COMPILER_BINDIR "" CACHE PATH "Directory where nvcc should look for C++ compiler. This is passed to nvcc through the --compiler-bindir option.")
-
--if (NOT BUILD_C_BINDINGS)
-- set(BUILD_PYTHON_BINDINGS OFF)
-- set(BUILD_MATLAB_BINDINGS OFF)
--endif()
-+#if (NOT BUILD_C_BINDINGS)
-+# set(BUILD_PYTHON_BINDINGS OFF)
-+# set(BUILD_MATLAB_BINDINGS OFF)
-+#endif()
-
-
- # find python
-@@ -141,11 +141,11 @@
- add_definitions( "-Wall" )
- endif(WIN32)
-
--add_subdirectory( cmake )
-+#add_subdirectory( cmake )
- add_subdirectory( src )
--add_subdirectory( examples )
--add_subdirectory( test )
--add_subdirectory( doc )
-+#add_subdirectory( examples )
-+#add_subdirectory( test )
-+#add_subdirectory( doc )
-
-
- # CPACK options
diff --git a/py-flann/patches/patch-ab b/py-flann/patches/patch-ab
deleted file mode 100644
index 042c766e6fac8b84c8b434266e9220c2b64d69c6..0000000000000000000000000000000000000000
--- a/py-flann/patches/patch-ab
+++ /dev/null
@@ -1,25 +0,0 @@
-diff -ru src/python/CMakeLists.txt src/python/CMakeLists.txt
---- src/python/CMakeLists.txt 2011-07-20 13:32:34.259315161 +0100
-+++ src/python/CMakeLists.txt 2011-07-20 13:36:41.860542952 +0100
-@@ -1,7 +1,7 @@
- configure_file( setup.py.tpl setup.py )
-
--install( DIRECTORY pyflann DESTINATION share/flann/python )
--install( FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.py DESTINATION share/flann/python )
-+install( DIRECTORY pyflann DESTINATION ${PYTHON_SITELIB} )
-+#install( FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.py DESTINATION share/flann/python )
-
-
- # python instalation
-diff -ru src/python/setup.py.tpl src/python/setup.py.tpl
---- src/python/setup.py.tpl 2011-07-20 13:32:34.259315161 +0100
-+++ src/python/setup.py.tpl 2011-07-20 13:38:14.965004632 +0100
-@@ -7,7 +7,7 @@
-
-
- def find_path():
-- lib_paths = [ os.path.abspath('@LIBRARY_OUTPUT_PATH@'), abspath(join(dirname(dirname(sys.argv[0])), '../../../lib')) ]
-+ lib_paths = [ os.path.abspath('@LIBRARY_OUTPUT_PATH@'), abspath(join(dirname(dirname(sys.argv[0])), '../../../lib')), abspath(join(os.path.abspath('@CMAKE_INSTALL_PREFIX@'), '/lib')) ]
- possible_libs = ['libflann.so', 'flann.dll', 'libflann.dll', 'libflann.dylib']
-
- for path in lib_paths: