diff --git a/Makefile b/Makefile
index 8b80d681cfd630f1dc86fa6d4d48ee045659869d..0a66a9c70ac89289117c1e4f96e8de7485ddd4e8 100644
--- a/Makefile
+++ b/Makefile
@@ -81,7 +81,6 @@ SUBDIR+= py-mavlink
SUBDIR+= py-morse
SUBDIR+= py-sot-tools-v3
SUBDIR+= qpOASES
-SUBDIR+= robot-capsule-urdf
SUBDIR+= roralink
SUBDIR+= robotModelParser-libs
SUBDIR+= simple-humanoid-description
diff --git a/robot-capsule-urdf/DESCR b/robot-capsule-urdf/DESCR
deleted file mode 100644
index 5bc4dfd562562b8c2d4de9f2cdf905d82b54fac1..0000000000000000000000000000000000000000
--- a/robot-capsule-urdf/DESCR
+++ /dev/null
@@ -1,3 +0,0 @@
-Robot capsule URDF
-Put capsule on a robot from its URDF description.
-
diff --git a/robot-capsule-urdf/Makefile b/robot-capsule-urdf/Makefile
deleted file mode 100644
index b5d388ec4f934fbd8e237fc7ef00585c47c9fc6d..0000000000000000000000000000000000000000
--- a/robot-capsule-urdf/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-# robotpkg Makefile for: graphics/robot_capsule_urdf
-# Created: Olivier Stasse on Fri, 19 Jun 2015
-#
-PKGREVISION= 1
-VERSION= 1.0.1
-DISTNAME= robot-capsule-urdf-${VERSION}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=robot-capsule-urdf/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}laas/robot_capsule_urdf
-
-CATEGORIES= graphics
-COMMENT= Provides capsule description of the robots
-LICENSE= 2-clause-bsd
-MAINTAINER= hpp@laas.fr
-
-DYNAMIC_PLIST_DIRS+= share/doc/robot_capsule_urdf
-
-include ../../devel/ros-catkin/depend.mk
-include ../../graphics/urdfdom/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/robot-capsule-urdf/PLIST b/robot-capsule-urdf/PLIST
deleted file mode 100644
index f9904f14a2f618df02a2b276e342d580dc56f5b9..0000000000000000000000000000000000000000
--- a/robot-capsule-urdf/PLIST
+++ /dev/null
@@ -1,8 +0,0 @@
-@comment Mon May 30 12:15:47 CEST 2016
-include/robot_capsule_urdf/config.h
-include/robot_capsule_urdf/config.hh
-include/robot_capsule_urdf/deprecated.hh
-include/robot_capsule_urdf/warning.hh
-lib/pkgconfig/robot_capsule_urdf.pc
-lib/robot_capsule_urdf/robot_capsule_urdf
-share/robot_capsule_urdf/package.xml
diff --git a/robot-capsule-urdf/depend.mk b/robot-capsule-urdf/depend.mk
deleted file mode 100644
index 82c36df0d9f44700085346179397a9b314be9709..0000000000000000000000000000000000000000
--- a/robot-capsule-urdf/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: graphics/robot_capsule_urdf
-# Created: Olivier Stasse on Wed, 19 Jun 2015
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-ROBOT_CAPSULE_URDF_DEPEND_MK:= ${ROBOT_CAPSULE_URDF_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= robot-capsule-urdf
-endif
-
-ifeq (+,$(ROBOT_CAPSULE_URDF_DEPEND_MK)) # -------------------------------------------
-
-PREFER.robot-capsule-urdf?= robotpkg
-
-SYSTEM_SEARCH.robot-capsule-urdf=\
- 'lib/pkgconfig/robot_capsule_urdf.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= robot-capsule-urdf
-
-DEPEND_ABI.robot-capsule-urdf?= robot-capsule-urdf>=1.0
-DEPEND_DIR.robot-capsule-urdf?= ../../wip/robot-capsule-urdf
-
-endif # ROBOT_CAPSULE_URDF_DEPEND_MK -------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/robot-capsule-urdf/distinfo b/robot-capsule-urdf/distinfo
deleted file mode 100644
index 0ab39e863acb3739d7b089e9896d521809737d48..0000000000000000000000000000000000000000
--- a/robot-capsule-urdf/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (robot-capsule-urdf-1.0.1.tar.gz) = d8fdb9ce8b5ddd17cab624b29ee3d56c3c3c91c9
-RMD160 (robot-capsule-urdf-1.0.1.tar.gz) = a1b8144d06fb687117d621083d0606e3810ff69a
-Size (robot-capsule-urdf-1.0.1.tar.gz) = 75100 bytes