diff --git a/Makefile b/Makefile
index 67f97aea24198b02e946405822f852a6fab8573e..3fbf18adc4ebe1292b947b780417a0cb197f9b94 100644
--- a/Makefile
+++ b/Makefile
@@ -3,7 +3,6 @@
 
 COMMENT=	WIP packages
 
-SUBDIR+=	collada-dom
 SUBDIR+=	flann
 SUBDIR+=	gest-genom
 SUBDIR+=	jafar-kernel
diff --git a/collada-dom/DESCR b/collada-dom/DESCR
deleted file mode 100644
index 1f13a6c0c269a16758c297f11223235522780114..0000000000000000000000000000000000000000
--- a/collada-dom/DESCR
+++ /dev/null
@@ -1,2 +0,0 @@
-The COLLADA Document Object Model (DOM) is an application programming interface (API) 
-that provides a C++ object representation of a COLLADA XML instance document.
diff --git a/collada-dom/Makefile b/collada-dom/Makefile
deleted file mode 100644
index 51e1154284de2bc29d6f64c8a0d677b23a15b027..0000000000000000000000000000000000000000
--- a/collada-dom/Makefile
+++ /dev/null
@@ -1,31 +0,0 @@
-# robotpkg Makefile for:	graphics/collada-dom
-# Created:			Francois Lancelot on Thur, 01 Sep 2011
-#
-PKGVERSION=		2.3.1
-PKGNAME=	    collada-dom-${PKGVERSION}
-DISTNAME=		collada_dom-${PKGVERSION}-src
-MASTER_SITES=   ${MASTER_SITE_OPENROBOTS}
-EXTRACT_SUFX=		.tgz
-
-CATEGORIES=		graphics
-HOMEPAGE=		http://collada-dom.sourceforge.net/
-MAINTAINER=		rosen.diankov@gmail.com
-COMMENT=		Library that provides a C++ object representation of a COLLADA XML instance document
-LICENSE=		mit	
-USE_LANGUAGES+=	c c++
-
-WRKSRC=			${WRKDIR}/${PKGNAME}
-CMAKE_ARG_PATH=		..
-CONFIGURE_DIRS=		build
-
-INSTALLATION_DIRS=	include/collada-dom
-# create the build directory
-pre-configure:
-	${RUN}${MKDIR} ${WRKSRC}/build
-	
-# General configuration
-CMAKE_ARGS+=		-DOPT_COLLADA14=OFF
-
-include ../../mk/sysdep/cmake.mk
-include ../../mk/robotpkg.mk
-
diff --git a/collada-dom/PLIST b/collada-dom/PLIST
deleted file mode 100644
index 30ac888c79101cf3f30604e244e950f8b5d2275e..0000000000000000000000000000000000000000
--- a/collada-dom/PLIST
+++ /dev/null
@@ -1,286 +0,0 @@
-@comment Thu Sep 1 16:37:06 CEST 2011
-include/collada-dom/1.5/dom/domAccessor.h
-include/collada-dom/1.5/dom/domAnimation.h
-include/collada-dom/1.5/dom/domAnimation_clip.h
-include/collada-dom/1.5/dom/domArticulated_system.h
-include/collada-dom/1.5/dom/domAsset.h
-include/collada-dom/1.5/dom/domAxis.h
-include/collada-dom/1.5/dom/domAxis_constraint.h
-include/collada-dom/1.5/dom/domBind_joint_axis.h
-include/collada-dom/1.5/dom/domBind_kinematics_model.h
-include/collada-dom/1.5/dom/domBind_material.h
-include/collada-dom/1.5/dom/domBool_array.h
-include/collada-dom/1.5/dom/domBox.h
-include/collada-dom/1.5/dom/domBrep.h
-include/collada-dom/1.5/dom/domCOLLADA.h
-include/collada-dom/1.5/dom/domCamera.h
-include/collada-dom/1.5/dom/domCapsule.h
-include/collada-dom/1.5/dom/domCg_array.h
-include/collada-dom/1.5/dom/domCg_newparam.h
-include/collada-dom/1.5/dom/domCg_param.h
-include/collada-dom/1.5/dom/domCg_pass.h
-include/collada-dom/1.5/dom/domCg_setparam.h
-include/collada-dom/1.5/dom/domCg_user.h
-include/collada-dom/1.5/dom/domChannel.h
-include/collada-dom/1.5/dom/domCircle.h
-include/collada-dom/1.5/dom/domCommon_bool_or_param.h
-include/collada-dom/1.5/dom/domCommon_float2_or_param.h
-include/collada-dom/1.5/dom/domCommon_float_or_param.h
-include/collada-dom/1.5/dom/domCommon_int_or_param.h
-include/collada-dom/1.5/dom/domCommon_param.h
-include/collada-dom/1.5/dom/domCommon_sidref_or_param.h
-include/collada-dom/1.5/dom/domCone.h
-include/collada-dom/1.5/dom/domConstants.h
-include/collada-dom/1.5/dom/domController.h
-include/collada-dom/1.5/dom/domConvex_mesh.h
-include/collada-dom/1.5/dom/domCurve.h
-include/collada-dom/1.5/dom/domCurves.h
-include/collada-dom/1.5/dom/domCylinder.h
-include/collada-dom/1.5/dom/domEdges.h
-include/collada-dom/1.5/dom/domEffect.h
-include/collada-dom/1.5/dom/domElements.h
-include/collada-dom/1.5/dom/domEllipse.h
-include/collada-dom/1.5/dom/domEllipsoid.h
-include/collada-dom/1.5/dom/domExtra.h
-include/collada-dom/1.5/dom/domFaces.h
-include/collada-dom/1.5/dom/domFloat_array.h
-include/collada-dom/1.5/dom/domForce_field.h
-include/collada-dom/1.5/dom/domFormula.h
-include/collada-dom/1.5/dom/domFormula_newparam.h
-include/collada-dom/1.5/dom/domFormula_setparam.h
-include/collada-dom/1.5/dom/domFormula_technique.h
-include/collada-dom/1.5/dom/domFx_annotate.h
-include/collada-dom/1.5/dom/domFx_clearcolor.h
-include/collada-dom/1.5/dom/domFx_cleardepth.h
-include/collada-dom/1.5/dom/domFx_clearstencil.h
-include/collada-dom/1.5/dom/domFx_code.h
-include/collada-dom/1.5/dom/domFx_colortarget.h
-include/collada-dom/1.5/dom/domFx_common_color_or_texture.h
-include/collada-dom/1.5/dom/domFx_common_float_or_param.h
-include/collada-dom/1.5/dom/domFx_common_newparam.h
-include/collada-dom/1.5/dom/domFx_common_transparent.h
-include/collada-dom/1.5/dom/domFx_depthtarget.h
-include/collada-dom/1.5/dom/domFx_include.h
-include/collada-dom/1.5/dom/domFx_newparam.h
-include/collada-dom/1.5/dom/domFx_profile.h
-include/collada-dom/1.5/dom/domFx_rendertarget.h
-include/collada-dom/1.5/dom/domFx_sampler.h
-include/collada-dom/1.5/dom/domFx_sampler1D.h
-include/collada-dom/1.5/dom/domFx_sampler2D.h
-include/collada-dom/1.5/dom/domFx_sampler3D.h
-include/collada-dom/1.5/dom/domFx_samplerCUBE.h
-include/collada-dom/1.5/dom/domFx_samplerDEPTH.h
-include/collada-dom/1.5/dom/domFx_samplerRECT.h
-include/collada-dom/1.5/dom/domFx_sampler_states.h
-include/collada-dom/1.5/dom/domFx_setparam.h
-include/collada-dom/1.5/dom/domFx_sources.h
-include/collada-dom/1.5/dom/domFx_stenciltarget.h
-include/collada-dom/1.5/dom/domFx_target.h
-include/collada-dom/1.5/dom/domGeometry.h
-include/collada-dom/1.5/dom/domGl_pipeline_settings.h
-include/collada-dom/1.5/dom/domGles2_newparam.h
-include/collada-dom/1.5/dom/domGles2_pass.h
-include/collada-dom/1.5/dom/domGles2_pipeline_settings.h
-include/collada-dom/1.5/dom/domGles2_program.h
-include/collada-dom/1.5/dom/domGles2_shader.h
-include/collada-dom/1.5/dom/domGles2_value.h
-include/collada-dom/1.5/dom/domGles_newparam.h
-include/collada-dom/1.5/dom/domGles_param.h
-include/collada-dom/1.5/dom/domGles_pipeline_settings.h
-include/collada-dom/1.5/dom/domGles_sampler.h
-include/collada-dom/1.5/dom/domGles_sampler_states.h
-include/collada-dom/1.5/dom/domGles_texcombiner_argument_alpha.h
-include/collada-dom/1.5/dom/domGles_texcombiner_argument_rgb.h
-include/collada-dom/1.5/dom/domGles_texcombiner_command.h
-include/collada-dom/1.5/dom/domGles_texcombiner_command_alpha.h
-include/collada-dom/1.5/dom/domGles_texcombiner_command_rgb.h
-include/collada-dom/1.5/dom/domGles_texenv_command.h
-include/collada-dom/1.5/dom/domGles_texture_constant.h
-include/collada-dom/1.5/dom/domGles_texture_pipeline.h
-include/collada-dom/1.5/dom/domGlsl_array.h
-include/collada-dom/1.5/dom/domGlsl_newparam.h
-include/collada-dom/1.5/dom/domGlsl_program.h
-include/collada-dom/1.5/dom/domGlsl_shader.h
-include/collada-dom/1.5/dom/domGlsl_value.h
-include/collada-dom/1.5/dom/domHyperbola.h
-include/collada-dom/1.5/dom/domIdref_array.h
-include/collada-dom/1.5/dom/domImage.h
-include/collada-dom/1.5/dom/domImage_mips.h
-include/collada-dom/1.5/dom/domImage_source.h
-include/collada-dom/1.5/dom/domInput_global.h
-include/collada-dom/1.5/dom/domInput_local.h
-include/collada-dom/1.5/dom/domInput_local_offset.h
-include/collada-dom/1.5/dom/domInstance_articulated_system.h
-include/collada-dom/1.5/dom/domInstance_camera.h
-include/collada-dom/1.5/dom/domInstance_controller.h
-include/collada-dom/1.5/dom/domInstance_effect.h
-include/collada-dom/1.5/dom/domInstance_force_field.h
-include/collada-dom/1.5/dom/domInstance_formula.h
-include/collada-dom/1.5/dom/domInstance_geometry.h
-include/collada-dom/1.5/dom/domInstance_image.h
-include/collada-dom/1.5/dom/domInstance_joint.h
-include/collada-dom/1.5/dom/domInstance_kinematics_model.h
-include/collada-dom/1.5/dom/domInstance_kinematics_scene.h
-include/collada-dom/1.5/dom/domInstance_light.h
-include/collada-dom/1.5/dom/domInstance_material.h
-include/collada-dom/1.5/dom/domInstance_node.h
-include/collada-dom/1.5/dom/domInstance_physics_material.h
-include/collada-dom/1.5/dom/domInstance_physics_model.h
-include/collada-dom/1.5/dom/domInstance_rigid_body.h
-include/collada-dom/1.5/dom/domInstance_rigid_constraint.h
-include/collada-dom/1.5/dom/domInstance_with_extra.h
-include/collada-dom/1.5/dom/domInt_array.h
-include/collada-dom/1.5/dom/domJoint.h
-include/collada-dom/1.5/dom/domJoint_limits.h
-include/collada-dom/1.5/dom/domKinematics.h
-include/collada-dom/1.5/dom/domKinematics_axis_info.h
-include/collada-dom/1.5/dom/domKinematics_bind.h
-include/collada-dom/1.5/dom/domKinematics_connect_param.h
-include/collada-dom/1.5/dom/domKinematics_frame.h
-include/collada-dom/1.5/dom/domKinematics_index.h
-include/collada-dom/1.5/dom/domKinematics_limits.h
-include/collada-dom/1.5/dom/domKinematics_model.h
-include/collada-dom/1.5/dom/domKinematics_model_technique.h
-include/collada-dom/1.5/dom/domKinematics_newparam.h
-include/collada-dom/1.5/dom/domKinematics_param.h
-include/collada-dom/1.5/dom/domKinematics_scene.h
-include/collada-dom/1.5/dom/domKinematics_setparam.h
-include/collada-dom/1.5/dom/domKinematics_technique.h
-include/collada-dom/1.5/dom/domLibrary_animation_clips.h
-include/collada-dom/1.5/dom/domLibrary_animations.h
-include/collada-dom/1.5/dom/domLibrary_articulated_systems.h
-include/collada-dom/1.5/dom/domLibrary_cameras.h
-include/collada-dom/1.5/dom/domLibrary_controllers.h
-include/collada-dom/1.5/dom/domLibrary_effects.h
-include/collada-dom/1.5/dom/domLibrary_force_fields.h
-include/collada-dom/1.5/dom/domLibrary_formulas.h
-include/collada-dom/1.5/dom/domLibrary_geometries.h
-include/collada-dom/1.5/dom/domLibrary_images.h
-include/collada-dom/1.5/dom/domLibrary_joints.h
-include/collada-dom/1.5/dom/domLibrary_kinematics_models.h
-include/collada-dom/1.5/dom/domLibrary_kinematics_scenes.h
-include/collada-dom/1.5/dom/domLibrary_lights.h
-include/collada-dom/1.5/dom/domLibrary_materials.h
-include/collada-dom/1.5/dom/domLibrary_nodes.h
-include/collada-dom/1.5/dom/domLibrary_physics_materials.h
-include/collada-dom/1.5/dom/domLibrary_physics_models.h
-include/collada-dom/1.5/dom/domLibrary_physics_scenes.h
-include/collada-dom/1.5/dom/domLibrary_visual_scenes.h
-include/collada-dom/1.5/dom/domLight.h
-include/collada-dom/1.5/dom/domLimits_sub.h
-include/collada-dom/1.5/dom/domLine.h
-include/collada-dom/1.5/dom/domLines.h
-include/collada-dom/1.5/dom/domLinestrips.h
-include/collada-dom/1.5/dom/domLink.h
-include/collada-dom/1.5/dom/domLookat.h
-include/collada-dom/1.5/dom/domMaterial.h
-include/collada-dom/1.5/dom/domMatrix.h
-include/collada-dom/1.5/dom/domMesh.h
-include/collada-dom/1.5/dom/domMinmax.h
-include/collada-dom/1.5/dom/domMorph.h
-include/collada-dom/1.5/dom/domMotion.h
-include/collada-dom/1.5/dom/domMotion_axis_info.h
-include/collada-dom/1.5/dom/domMotion_effector_info.h
-include/collada-dom/1.5/dom/domMotion_technique.h
-include/collada-dom/1.5/dom/domName_array.h
-include/collada-dom/1.5/dom/domNode.h
-include/collada-dom/1.5/dom/domNurbs.h
-include/collada-dom/1.5/dom/domNurbs_surface.h
-include/collada-dom/1.5/dom/domOrient.h
-include/collada-dom/1.5/dom/domOrigin.h
-include/collada-dom/1.5/dom/domP.h
-include/collada-dom/1.5/dom/domParabola.h
-include/collada-dom/1.5/dom/domParam.h
-include/collada-dom/1.5/dom/domPcurves.h
-include/collada-dom/1.5/dom/domPhysics_material.h
-include/collada-dom/1.5/dom/domPhysics_model.h
-include/collada-dom/1.5/dom/domPhysics_scene.h
-include/collada-dom/1.5/dom/domPlane.h
-include/collada-dom/1.5/dom/domPolygons.h
-include/collada-dom/1.5/dom/domPolylist.h
-include/collada-dom/1.5/dom/domProfile_bridge.h
-include/collada-dom/1.5/dom/domProfile_cg.h
-include/collada-dom/1.5/dom/domProfile_common.h
-include/collada-dom/1.5/dom/domProfile_gles.h
-include/collada-dom/1.5/dom/domProfile_gles2.h
-include/collada-dom/1.5/dom/domProfile_glsl.h
-include/collada-dom/1.5/dom/domRigid_body.h
-include/collada-dom/1.5/dom/domRigid_constraint.h
-include/collada-dom/1.5/dom/domRotate.h
-include/collada-dom/1.5/dom/domSampler.h
-include/collada-dom/1.5/dom/domScale.h
-include/collada-dom/1.5/dom/domShells.h
-include/collada-dom/1.5/dom/domSidref_array.h
-include/collada-dom/1.5/dom/domSkew.h
-include/collada-dom/1.5/dom/domSkin.h
-include/collada-dom/1.5/dom/domSolids.h
-include/collada-dom/1.5/dom/domSource.h
-include/collada-dom/1.5/dom/domSphere.h
-include/collada-dom/1.5/dom/domSpline.h
-include/collada-dom/1.5/dom/domSurface.h
-include/collada-dom/1.5/dom/domSurface_curves.h
-include/collada-dom/1.5/dom/domSurfaces.h
-include/collada-dom/1.5/dom/domSwept_surface.h
-include/collada-dom/1.5/dom/domTargetable_float.h
-include/collada-dom/1.5/dom/domTargetable_float3.h
-include/collada-dom/1.5/dom/domTargetable_float4.h
-include/collada-dom/1.5/dom/domTechnique.h
-include/collada-dom/1.5/dom/domToken_array.h
-include/collada-dom/1.5/dom/domTorus.h
-include/collada-dom/1.5/dom/domTranslate.h
-include/collada-dom/1.5/dom/domTriangles.h
-include/collada-dom/1.5/dom/domTrifans.h
-include/collada-dom/1.5/dom/domTristrips.h
-include/collada-dom/1.5/dom/domTypes.h
-include/collada-dom/1.5/dom/domVertices.h
-include/collada-dom/1.5/dom/domVisual_scene.h
-include/collada-dom/1.5/dom/domWires.h
-include/collada-dom/dae.h
-include/collada-dom/dae/daeArray.h
-include/collada-dom/dae/daeArrayTypes.h
-include/collada-dom/dae/daeAtomicType.h
-include/collada-dom/dae/daeDatabase.h
-include/collada-dom/dae/daeDocument.h
-include/collada-dom/dae/daeDom.h
-include/collada-dom/dae/daeDomTypes.h
-include/collada-dom/dae/daeElement.h
-include/collada-dom/dae/daeError.h
-include/collada-dom/dae/daeErrorHandler.h
-include/collada-dom/dae/daeGCCPlatform.h
-include/collada-dom/dae/daeIDRef.h
-include/collada-dom/dae/daeIOPlugin.h
-include/collada-dom/dae/daeIOPluginCommon.h
-include/collada-dom/dae/daeMemorySystem.h
-include/collada-dom/dae/daeMetaAny.h
-include/collada-dom/dae/daeMetaAttribute.h
-include/collada-dom/dae/daeMetaCMPolicy.h
-include/collada-dom/dae/daeMetaChoice.h
-include/collada-dom/dae/daeMetaElement.h
-include/collada-dom/dae/daeMetaElementAttribute.h
-include/collada-dom/dae/daeMetaGroup.h
-include/collada-dom/dae/daeMetaSequence.h
-include/collada-dom/dae/daePlatform.h
-include/collada-dom/dae/daeRawResolver.h
-include/collada-dom/dae/daeRefCountedObj.h
-include/collada-dom/dae/daeSIDResolver.h
-include/collada-dom/dae/daeSmartRef.h
-include/collada-dom/dae/daeStandardURIResolver.h
-include/collada-dom/dae/daeStringRef.h
-include/collada-dom/dae/daeStringTable.h
-include/collada-dom/dae/daeTinyXMLPlugin.h
-include/collada-dom/dae/daeTypes.h
-include/collada-dom/dae/daeURI.h
-include/collada-dom/dae/daeUtils.h
-include/collada-dom/dae/daeWin32Platform.h
-include/collada-dom/dae/daeZAEUncompressHandler.h
-include/collada-dom/dae/domAny.h
-include/collada-dom/dom.h
-include/collada-dom/modules/daeLIBXMLPlugin.h
-include/collada-dom/modules/daeSTLDatabase.h
-include/collada-dom/modules/stdErrPlugin.h
-lib/cmake/collada_dom/collada_dom-config-version.cmake
-lib/cmake/collada_dom/collada_dom-config.cmake
-lib/libcollada15dom.so
-lib/libcollada15dom.so.2.3.1
-lib/libcollada15dom.so.2
-lib/pkgconfig/collada15dom.pc
diff --git a/collada-dom/depend.mk b/collada-dom/depend.mk
deleted file mode 100644
index 15ff2be68e1c0c6cc44b09e6a8539866ae0fbb2b..0000000000000000000000000000000000000000
--- a/collada-dom/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for:	graphics/collada-dom
-# Created:			Francois Lancelot on Thur, 01 Sep 2011
-#
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-COLLADADOM_DEPEND_MK:=		${COLLADADOM_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		collada-dom 
-endif
-
-ifeq (+,$(COLLADADOM_DEPEND_MK)) # ------------------------------------------------
-
-PREFER.collada-dom?=		robotpkg
-
-SYSTEM_SEARCH.collada-dom=\
-	include/collada-dom/dae.h	\
-	lib/libcollada15dom.so
-
-DEPEND_USE+=		collada-dom 
-
-DEPEND_ABI.collada-dom?=	collada-dom >=2.3.1
-DEPEND_DIR.collada-dom?=	../../wip/collada-dom
-
-endif # COLLADADOM_DEPEND_MK ------------------------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/collada-dom/distinfo b/collada-dom/distinfo
deleted file mode 100644
index 850224922269afc9c6abea30651f7dae2fd94d14..0000000000000000000000000000000000000000
--- a/collada-dom/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (collada_dom-2.3.1-src.tgz) = 055a385bf679db5d9a84f46e9ea439b75bdb8725
-RMD160 (collada_dom-2.3.1-src.tgz) = e20c00c8964e75429bdd13a05939aeb47b0a79a5
-Size (collada_dom-2.3.1-src.tgz) = 12106862 bytes
diff --git a/robotModelParser-libs/Makefile b/robotModelParser-libs/Makefile
index f57545eeedbb1a1aa9ee0ce728a4ec11d5112e96..f3ed72f68a67f2bbd8a55fb2a75dceaf152e44b0 100644
--- a/robotModelParser-libs/Makefile
+++ b/robotModelParser-libs/Makefile
@@ -13,6 +13,6 @@ LICENSE=		original-bsd
 
 USE_LANGUAGES+=		c c++
 
-include ../../wip/collada-dom/depend.mk
+include ../../graphics/collada-dom/depend.mk
 include ../../mk/sysdep/cmake.mk
 include ../../mk/robotpkg.mk