diff --git a/Makefile b/Makefile
index ccbe317b0fcd5475be3fa1fa650a228898c50706..fd434afb72051b07d572b649a98cd7bbe7f467e3 100644
--- a/Makefile
+++ b/Makefile
@@ -62,7 +62,6 @@ SUBDIR+= orocos-yarp_transport
SUBDIR+= osg-dae
SUBDIR+= pal-msgs
SUBDIR+= parametric-curves
-SUBDIR+= pinocchio
SUBDIR+= py-dynamic-graph-v3
SUBDIR+= py-hla
SUBDIR+= py-jsbsim
diff --git a/pinocchio/DESCR b/pinocchio/DESCR
deleted file mode 100644
index a5ce9e05606277ae19d582798127c675ed8ec1c0..0000000000000000000000000000000000000000
--- a/pinocchio/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-This package provides an efficient library to compute rigid multibody dynamics.
diff --git a/pinocchio/Makefile b/pinocchio/Makefile
deleted file mode 100644
index b493d9cfe82cf3dbc118c275c23dc2dbdc39d7c4..0000000000000000000000000000000000000000
--- a/pinocchio/Makefile
+++ /dev/null
@@ -1,51 +0,0 @@
-# robotpkg Makefile for: math/pinocchio
-# Created: Olivier Stasse on Thu, 4 Feb 2016
-#
-
-VERSION= 1.2.7
-DISTNAME= pinocchio-${VERSION}
-MASTER_SITES=\
- ${MASTER_SITE_BASE:=${PKGBASE}/releases/download/v${VERSION/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/${PKGBASE}
-CHECKOUT_VCS_OPTS= --recursive
-
-CATEGORIES= math
-COMMENT= Efficient rigid body dynamics
-HOMEPAGE= http://stack-of-tasks.github.io/pinocchio/
-MAINTAINER= gepetto@laas.fr
-LICENSE= gnu-lgpl-v3
-
-DYNAMIC_PLIST_DIRS+= share/doc/${PKGBASE}
-
-CMAKE_ARGS+= -DPYTHON_EXECUTABLE=${PYTHON}
-CMAKE_ARGS+= -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE}
-CMAKE_ARGS+= -DPYTHON_LIBRARY=${PYTHON_LIB}
-CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-
-CMAKE_ARGS+= -DBUILD_BENCHMARK=OFF
-CMAKE_ARGS+= -DBUILD_UNIT_TESTS=OFF
-CMAKE_ARGS+= -DBUILD_UTILS=OFF
-CMAKE_ARGS+= -DBUILD_TESTS_WITH_HPP=OFF
-CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=ON
-CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF
-
-USE_BOOST_LIBS= python system filesystem
-
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../graphics/urdfdom/depend.mk
-include ../../math/eigen3/depend.mk
-include ../../math/py-eigenpy/depend.mk
-include ../../path/hpp-fcl/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/doxygen.mk
-include ../../mk/sysdep/python.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-
-DEPEND_ABI.python += python<3
-DEPEND_ABI.urdfdom += urdfdom>=0.2.3
-
-include ../../mk/robotpkg.mk
diff --git a/pinocchio/PLIST b/pinocchio/PLIST
deleted file mode 100644
index 251ef5a9873aed340c22aaf115727b457364a3b8..0000000000000000000000000000000000000000
--- a/pinocchio/PLIST
+++ /dev/null
@@ -1,136 +0,0 @@
-@comment Mon Apr 2 18:52:08 CEST 2018
-include/pinocchio/algorithm/aba.hpp
-include/pinocchio/algorithm/aba.hxx
-include/pinocchio/algorithm/center-of-mass.hpp
-include/pinocchio/algorithm/center-of-mass.hxx
-include/pinocchio/algorithm/check.hpp
-include/pinocchio/algorithm/check.hxx
-include/pinocchio/algorithm/cholesky.hpp
-include/pinocchio/algorithm/cholesky.hxx
-include/pinocchio/algorithm/compute-all-terms.hpp
-include/pinocchio/algorithm/copy.hpp
-include/pinocchio/algorithm/crba.hpp
-include/pinocchio/algorithm/crba.hxx
-include/pinocchio/algorithm/default-check.hpp
-include/pinocchio/algorithm/dynamics.hpp
-include/pinocchio/algorithm/energy.hpp
-include/pinocchio/algorithm/finite-differences.hpp
-include/pinocchio/algorithm/finite-differences.hxx
-include/pinocchio/algorithm/frames.hpp
-include/pinocchio/algorithm/frames.hxx
-include/pinocchio/algorithm/geometry.hpp
-include/pinocchio/algorithm/geometry.hxx
-include/pinocchio/algorithm/jacobian.hpp
-include/pinocchio/algorithm/jacobian.hxx
-include/pinocchio/algorithm/joint-configuration.hpp
-include/pinocchio/algorithm/joint-configuration.hxx
-include/pinocchio/algorithm/kinematics.hpp
-include/pinocchio/algorithm/kinematics.hxx
-include/pinocchio/algorithm/regressor.hpp
-include/pinocchio/algorithm/regressor.hxx
-include/pinocchio/algorithm/rnea.hpp
-include/pinocchio/algorithm/rnea.hxx
-include/pinocchio/assert.hpp
-include/pinocchio/bindings/python/algorithm/algorithms.hpp
-include/pinocchio/bindings/python/fwd.hpp
-include/pinocchio/bindings/python/multibody/data.hpp
-include/pinocchio/bindings/python/multibody/fcl/collision-geometry.hpp
-include/pinocchio/bindings/python/multibody/fcl/collision-result.hpp
-include/pinocchio/bindings/python/multibody/fcl/contact.hpp
-include/pinocchio/bindings/python/multibody/frame.hpp
-include/pinocchio/bindings/python/multibody/geometry-data.hpp
-include/pinocchio/bindings/python/multibody/geometry-model.hpp
-include/pinocchio/bindings/python/multibody/geometry-object.hpp
-include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
-include/pinocchio/bindings/python/multibody/joint/joint.hpp
-include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
-include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
-include/pinocchio/bindings/python/multibody/model.hpp
-include/pinocchio/bindings/python/parsers/parsers.hpp
-include/pinocchio/bindings/python/spatial/explog.hpp
-include/pinocchio/bindings/python/spatial/force.hpp
-include/pinocchio/bindings/python/spatial/inertia.hpp
-include/pinocchio/bindings/python/spatial/motion.hpp
-include/pinocchio/bindings/python/spatial/se3.hpp
-include/pinocchio/bindings/python/utils/copyable.hpp
-include/pinocchio/bindings/python/utils/eigen_container.hpp
-include/pinocchio/bindings/python/utils/handler.hpp
-include/pinocchio/bindings/python/utils/printable.hpp
-include/pinocchio/bindings/python/utils/std-aligned-vector.hpp
-include/pinocchio/bindings/python/utils/std-vector.hpp
-include/pinocchio/config.hh
-include/pinocchio/container/aligned-vector.hpp
-include/pinocchio/deprecated.hh
-include/pinocchio/exception.hpp
-include/pinocchio/macros.hpp
-include/pinocchio/math/fwd.hpp
-include/pinocchio/math/matrix.hpp
-include/pinocchio/math/quaternion.hpp
-include/pinocchio/math/sincos.hpp
-include/pinocchio/multibody/constraint.hpp
-include/pinocchio/multibody/fcl.hpp
-include/pinocchio/multibody/fcl.hxx
-include/pinocchio/multibody/force-set.hpp
-include/pinocchio/multibody/frame.hpp
-include/pinocchio/multibody/fwd.hpp
-include/pinocchio/multibody/geometry.hpp
-include/pinocchio/multibody/geometry.hxx
-include/pinocchio/multibody/joint/fwd.hpp
-include/pinocchio/multibody/joint/joint-base.hpp
-include/pinocchio/multibody/joint/joint-basic-visitors.hpp
-include/pinocchio/multibody/joint/joint-basic-visitors.hxx
-include/pinocchio/multibody/joint/joint-composite.hpp
-include/pinocchio/multibody/joint/joint-free-flyer.hpp
-include/pinocchio/multibody/joint/joint-planar.hpp
-include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
-include/pinocchio/multibody/joint/joint-prismatic.hpp
-include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
-include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
-include/pinocchio/multibody/joint/joint-revolute.hpp
-include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
-include/pinocchio/multibody/joint/joint-spherical.hpp
-include/pinocchio/multibody/joint/joint-translation.hpp
-include/pinocchio/multibody/joint/joint-variant.hpp
-include/pinocchio/multibody/joint/joint.hpp
-include/pinocchio/multibody/liegroup/cartesian-product.hpp
-include/pinocchio/multibody/liegroup/liegroup.hpp
-include/pinocchio/multibody/liegroup/operation-base.hpp
-include/pinocchio/multibody/liegroup/operation-base.hxx
-include/pinocchio/multibody/liegroup/special-euclidean.hpp
-include/pinocchio/multibody/liegroup/special-orthogonal.hpp
-include/pinocchio/multibody/liegroup/vector-space.hpp
-include/pinocchio/multibody/model.hpp
-include/pinocchio/multibody/model.hxx
-include/pinocchio/multibody/visitor.hpp
-include/pinocchio/parsers/python.hpp
-include/pinocchio/parsers/sample-models.hpp
-include/pinocchio/parsers/srdf.hpp
-include/pinocchio/parsers/urdf.hpp
-include/pinocchio/parsers/urdf/types.hpp
-include/pinocchio/parsers/urdf/utils.hpp
-include/pinocchio/parsers/utils.hpp
-include/pinocchio/spatial/act-on-set.hpp
-include/pinocchio/spatial/explog.hpp
-include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
-include/pinocchio/spatial/force.hpp
-include/pinocchio/spatial/fwd.hpp
-include/pinocchio/spatial/inertia.hpp
-include/pinocchio/spatial/motion.hpp
-include/pinocchio/spatial/se3.hpp
-include/pinocchio/spatial/skew.hpp
-include/pinocchio/spatial/symmetric3.hpp
-include/pinocchio/tools/file-explorer.hpp
-include/pinocchio/tools/string-generator.hpp
-include/pinocchio/tools/timer.hpp
-include/pinocchio/warning.hh
-lib/libpinocchio.so
-lib/pkgconfig/pinocchio.pc
-lib/pkgconfig/pinocchiopy.pc
-${PYTHON_SITELIB}/pinocchio/__init__.py
-${PYTHON_SITELIB}/pinocchio/deprecation.py
-${PYTHON_SITELIB}/pinocchio/explog.py
-${PYTHON_SITELIB}/pinocchio/libpinocchio_pywrap.so
-${PYTHON_SITELIB}/pinocchio/robot_wrapper.py
-${PYTHON_SITELIB}/pinocchio/romeo_wrapper.py
-${PYTHON_SITELIB}/pinocchio/rpy.py
-${PYTHON_SITELIB}/pinocchio/utils.py
diff --git a/pinocchio/depend.mk b/pinocchio/depend.mk
deleted file mode 100644
index 3e9358dc893c0151f112a284d57b1e39c0c9bdff..0000000000000000000000000000000000000000
--- a/pinocchio/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: math/pinocchio
-# Created: Olivier Stasse on Thu, 4 Feb 2016
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-PINOCCHIO_DEPEND_MK:= ${PINOCCHIO_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= pinocchio
-endif
-
-ifeq (+,$(PINOCCHIO_DEPEND_MK)) # ------------------------------------------
-
-PREFER.pinocchio?= robotpkg
-
-SYSTEM_SEARCH.pinocchio=\
- 'lib/pkgconfig/pinocchio.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= pinocchio
-
-DEPEND_ABI.pinocchio?= pinocchio>=1.1.2
-DEPEND_DIR.pinocchio?= ../../wip/pinocchio
-
-endif # PINOCCHIO_DEPEND_MK ------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/pinocchio/distinfo b/pinocchio/distinfo
deleted file mode 100644
index efdd37257af0a7d480af77b7c550db1461c4397e..0000000000000000000000000000000000000000
--- a/pinocchio/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (pinocchio-1.2.7.tar.gz) = e2c50e69305d7754206d9ad4540614843721e67e
-RMD160 (pinocchio-1.2.7.tar.gz) = 1120de4931067c607284e470474dd059fbcca1b7
-Size (pinocchio-1.2.7.tar.gz) = 9030977 bytes