diff --git a/Makefile b/Makefile
index 22fec17e452321c95b46ea225bcbf4ab1f152159..af766c6ae8e65d6829b4df347d634f7ac0ce9610 100644
--- a/Makefile
+++ b/Makefile
@@ -16,7 +16,6 @@ SUBDIR+= eigen-quadprog
SUBDIR+= FRILibrary
SUBDIR+= gdalwrap
SUBDIR+= gerard-bauzil
-SUBDIR+= gest-genom
SUBDIR+= gladys
SUBDIR+= hatpconsole
SUBDIR+= hatponboard-lib
diff --git a/gest-genom/DESCR b/gest-genom/DESCR
deleted file mode 100644
index a0175e3b75faa9f07359ad4c1c26605149a276ce..0000000000000000000000000000000000000000
--- a/gest-genom/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-GeNoM module for human posture recognition, based on skin patches detection
diff --git a/gest-genom/Makefile b/gest-genom/Makefile
deleted file mode 100644
index 2a027894408210464c2c550770d1511a73248dac..0000000000000000000000000000000000000000
--- a/gest-genom/Makefile
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg Makefile for: hri/gest-genom
-# Created: Severin Lemaignan on Tue, 31 Aug 2010
-#
-
-DISTNAME= gest-genom-1.0
-PKGREVISION= 1
-CATEGORIES= image
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=gest-genom/}
-MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/gest-genom
-
-MAINTAINER= openrobots@laas.fr
-COMMENT= GeNoM module for human posture recognition, based on skin patches detection
-
-# LICENSE is currently wrong: some parts mention "APP". Must clarify this.
-LICENSE= isc
-
-
-
-GENOM_MODULE= gest
-
-# Lots of missing dependencies : at least latex.
-include ../../localization/pom-genom/depend.mk
-include ../../image/viam-genom/depend.mk
-include ../../image/opencv/depend.mk
-include ../../architecture/genom/depend.mk
-
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/gest-genom/PLIST b/gest-genom/PLIST
deleted file mode 100644
index 519027bfa141c7d7f1c3cf2487faf134f66d4ec3..0000000000000000000000000000000000000000
--- a/gest-genom/PLIST
+++ /dev/null
@@ -1,40 +0,0 @@
-@comment Wed Sep 01 2010
-${PLIST.noapi}bin/gest
-${PLIST.noapi}bin/gestSendInitRqst
-${PLIST.noapi}bin/gestTest
-include/gest/libeuler/gestEuler.h
-include/gest/gestConst.h
-include/gest/gestStruct.h
-${PLIST.openprs}include/gest/server/openprs/gestDecodeOpenprs.h
-${PLIST.openprs}include/gest/server/openprs/gestEncodeOpenprs.h
-${PLIST.openprs}include/gest/server/openprs/gestRequestsOpenprsProto.h
-include/gest/server/gestEndian.h
-include/gest/server/gestError.h
-${PLIST.noapi}include/gest/server/gestMsgLib.h
-include/gest/server/gestPosterLib.h
-include/gest/server/gestPosterLibStruct.h
-${PLIST.noapi}include/gest/server/gestPosterReadLibProto.h
-${PLIST.noapi}include/gest/server/gestPosterShowLib.h
-${PLIST.noapi}include/gest/server/gestPosterWriteLibProto.h
-${PLIST.noapi}include/gest/server/gestPosterXMLLib.h
-include/gest/server/gestPrint.h
-include/gest/server/gestPrintXML.h
-include/gest/server/gestScan.h
-include/gest/server/gestType.h
-${PLIST.tclserv_client}include/gest/server/tclservClient/gestTclservClientDecode.h
-${PLIST.tclserv_client}include/gest/server/tclservClient/gestTclservClientEncode.h
-${PLIST.tclserv_client}include/gest/server/tclservClient/gestTclservClientMsgLib.h
-lib/libgestClient.la
-lib/libgestEuler.la
-${PLIST.openprs}lib/openprs/libgestOpenprs.la
-lib/pkgconfig/gest-euler.pc
-${PLIST.openprs}lib/pkgconfig/gest-oprs.pc
-lib/pkgconfig/gest.pc
-${PLIST.tclserv_client}lib/pkgconfig/gest-tclserv_client.pc
-${PLIST.tclserv_client}lib/tclservClient/libgestTclservClient.la
-${PLIST.noapi}${PLIST.tcl}lib/tclserv/libgestTclServ.la
-share/modules/gen/gest.gen
-${PLIST.openprs}share/modules/openprs/gestOpenprs.inc
-${PLIST.openprs}share/modules/openprs/gestOpenprs.opf
-${PLIST.openprs}share/modules/openprs/gestOpenprs.sym
-${PLIST.tcl}share/modules/tcl/gestClient.tcl
diff --git a/gest-genom/depend.mk b/gest-genom/depend.mk
deleted file mode 100644
index b3372cc2212645b4ad4314250398051fbe753814..0000000000000000000000000000000000000000
--- a/gest-genom/depend.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright (c) 2010 LAAS/CNRS
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are
-# met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice, this list of conditions and the following disclaimer in
-# the documentation and/or other materials provided with the
-# distribution.
-#
-# Severin Lemaignan on Tue 31 Aug 2010
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-GEST-GENOM_DEPEND_MK:= ${GEST-GENOM_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= gest-genom
-endif
-
-ifeq (+,$(GEST-GENOM_DEPEND_MK)) # ----------------------------------
-
-PREFER.gest-genom?= robotpkg
-
-SYSTEM_SEARCH.gest-genom=\
- include/gest/gestStruct.h \
- lib/pkgconfig/gest.pc
-
-DEPEND_USE+= gest-genom
-
-DEPEND_ABI.gest-genom?=gest-genom>=1.0
-DEPEND_DIR.gest-genom?=../../wip/gest-genom
-
-endif # GEST-GENOM_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/gest-genom/distinfo b/gest-genom/distinfo
deleted file mode 100644
index 2ae3456655bb4acb72a0b048a5dd9e962e122353..0000000000000000000000000000000000000000
--- a/gest-genom/distinfo
+++ /dev/null
@@ -1,5 +0,0 @@
-SHA1 (gest-genom-1.0.tar.gz) = ac64f98c82f7f12cef2f8c8c09faed36e179fb16
-RMD160 (gest-genom-1.0.tar.gz) = 9433c241ad24a0ddea3a8466a08b19d9bb13e6a1
-Size (gest-genom-1.0.tar.gz) = 1391642 bytes
-SHA1 (patch-aa) = d92f06ea418116a1ae3354dfd828353815470b8a
-SHA1 (patch-ab) = 721921532e8a5b74d8f5a48fccdb4fcddc2389b3
diff --git a/gest-genom/patches/patch-aa b/gest-genom/patches/patch-aa
deleted file mode 100644
index 9a8232ab8e50d8ede0b583d9f4fa0674e005dee6..0000000000000000000000000000000000000000
--- a/gest-genom/patches/patch-aa
+++ /dev/null
@@ -1,4 +0,0 @@
---- /dev/null 2010-10-18 10:15:35.677043131 +0200
-+++ configure.ac.user 2010-10-26 11:57:56.906166283 +0200
-@@ -0,0 +1 @@
-+EXTRA_SUBDIRS=code
diff --git a/gest-genom/patches/patch-ab b/gest-genom/patches/patch-ab
deleted file mode 100644
index 51de932bbb389dbf4cfb163e764cb1524f872fcb..0000000000000000000000000000000000000000
--- a/gest-genom/patches/patch-ab
+++ /dev/null
@@ -1,48 +0,0 @@
---- /dev/null 2010-10-18 10:15:35.677043131 +0200
-+++ code/Makefile.in 2010-10-26 12:05:35.821166324 +0200
-@@ -0,0 +1,45 @@
-+# top level targets
-+all: depend genom
-+install:;
-+
-+# compilation pour genom :
-+genom:
-+ cd src; make DEBUG=0
-+ make dox
-+
-+# compilation pour main (crétion d'un exécutable pour une utilisation du suivi seul et sans genom)
-+main:
-+ cd src; make DEBUG=1
-+ cd src/LeMain; make DEBUG=1
-+
-+# construction des dépendances
-+depend:
-+ mkdir include;\
-+ mkdir lib;\
-+ cd src;\
-+ make depend;\
-+ cd LeMain; make depend
-+
-+# nettoyage
-+clean:
-+ rm -f lib/*; rm -f include/*; rm -f doc.html
-+ cd src; make clean; cd LeMain; make clean
-+ cd doc; make clean
-+
-+# nettoyer et reconstruire pour genom
-+regen:
-+ make clean
-+ make depend
-+ make genom
-+
-+# nettoyer et reconstruire pour main
-+remain:
-+ make clean
-+ make depend
-+ make main
-+
-+# construction de documentation automatique
-+dox:
-+ cd doc; make
-+ ln -s doc/html/index.html doc.html
-+
diff --git a/spark-genom/Makefile b/spark-genom/Makefile
index 71f1dbb53b474d7ff7ef18b2a11bdb9722c75dae..c6fb0b99574551eed67f5295afd6b97f8c141414 100644
--- a/spark-genom/Makefile
+++ b/spark-genom/Makefile
@@ -19,18 +19,7 @@ LICENSE= gnu-gpl-v2
#######################
PKG_OPTIONS_OPTIONAL_GROUPS= robot
-PKG_OPTIONS_GROUP.robot= hrp2 pr2
-
-##
-## HRP2
-##
-PKG_OPTION_DESCR.hrp2= Compile SPARK with support for HRP2
-
-define PKG_OPTION_SET.hrp2
- GENOM_ARGS+= -DHRP2
- include ../../wip/gest-genom/depend.mk
- include ../../robots/hrp2-genom/depend.mk
-endef
+PKG_OPTIONS_GROUP.robot= pr2
##
## PR2