diff --git a/Makefile b/Makefile
index 0a270f8f745f460d91cfa30bb50c026eb3fe38fa..316c8a750d2a6cfb78967c5ef7ad4ae1e218347a 100644
--- a/Makefile
+++ b/Makefile
@@ -40,7 +40,6 @@ SUBDIR+= jsbsim
SUBDIR+= libhatp
SUBDIR+= libmove3d
SUBDIR+= libmove3d-hri
-SUBDIR+= libmove3d-planners
SUBDIR+= morse-ros
SUBDIR+= msgconnector
SUBDIR+= multicontact-api
diff --git a/libmove3d-planners/DESCR b/libmove3d-planners/DESCR
deleted file mode 100644
index da465e8ffa49dada5da4c1a6717da5f7715dd2ea..0000000000000000000000000000000000000000
--- a/libmove3d-planners/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-C++ (object oriented) Motion planning algorithms based on Move3D-core
diff --git a/libmove3d-planners/Makefile b/libmove3d-planners/Makefile
deleted file mode 100644
index a15437f7a81f8a430cb6b9f969452ed42921ca99..0000000000000000000000000000000000000000
--- a/libmove3d-planners/Makefile
+++ /dev/null
@@ -1,48 +0,0 @@
-# robotpkg Makefile for: path/libmove3d-planners
-# Created: Jim Mainprice on Thu, 2 Feb 2011
-#
-
-DISTNAME= libmove3d-planners-1.4.0
-CATEGORIES= path
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=libmove3d-planners/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_OPENROBOTS}move3d/libmove3d-planners
-PKGREVISION= 0
-
-MAINTAINER= biomove3dgitrepo@laas.fr
-COMMENT= C++ (object oriented) Motion planning algorithms based on libmove3d
-#BioMove 3D is currently GPL because it depends
-# on GSL and GLPK that are 2 GLP librairies.
-LICENSE= gnu-gpl-v2
-
-
-NOT_FOR_PLATFORM= # %-x86_64
-
-CMAKE_ARGS+= -DEigen_INCLUDE_DIR=${PREFIX.eigen3}/include/eigen3
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DBOOST_LIBRARYDIR=${PREFIX.boost-libs}/lib
-
-DEPEND_ABI.boost-libs?= boost-libs{>=1.34.1<1.49,>=1.50}
-
-## HATP connection option
-PKG_SUPPORTED_OPTIONS+= hatp_connection
-PKG_OPTION_DESCR.hatp_connection= Enable connection to HATP for intricate task and motion planning
-
-define PKG_OPTION_SET.hatp_connection
- CMAKE_ARGS+= -DHATP_CONNECTION=ON
- include ../../wip/msgconnector/depend.mk
- include ../../devel/jsoncpp/depend.mk
-endef
-
-## Common includes
-include ../../wip/libmove3d/depend.mk
-include ../../wip/libmove3d-hri/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../mk/sysdep/glu.mk
-include ../../math/eigen3/depend.mk
-include ../../wip/sysdep/libxpm.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
-include ../../pkgtools/pkg-config/depend.mk
diff --git a/libmove3d-planners/PLIST b/libmove3d-planners/PLIST
deleted file mode 100644
index f39f723eaf451dc76d1371dc6eb5ed1e14811f99..0000000000000000000000000000000000000000
--- a/libmove3d-planners/PLIST
+++ /dev/null
@@ -1,138 +0,0 @@
-@comment Fri Sep 13 07:06:35 CEST 2013
-include/libmove3d/planners/API/ConfigSpace/configuration.hpp
-include/libmove3d/planners/API/ConfigSpace/cspace.hpp
-include/libmove3d/planners/API/ConfigSpace/localpath.hpp
-include/libmove3d/planners/API/ConfigSpace/localpath_factory.hpp
-include/libmove3d/planners/API/ConfigSpace/sampling_api.hpp
-include/libmove3d/planners/API/Device/joint.hpp
-include/libmove3d/planners/API/Device/robot.hpp
-include/libmove3d/planners/API/Graphic/drawCost.hpp
-include/libmove3d/planners/API/Graphic/drawModule.hpp
-include/libmove3d/planners/API/Grids/BaseCell.hpp
-include/libmove3d/planners/API/Grids/BaseGrid.hpp
-include/libmove3d/planners/API/Grids/GridCube.hpp
-include/libmove3d/planners/API/Grids/GridToGraph/celltonode.hpp
-include/libmove3d/planners/API/Grids/GridToGraph/gridtograph.hpp
-include/libmove3d/planners/API/Grids/NDCell.hpp
-include/libmove3d/planners/API/Grids/NDGrid.hpp
-include/libmove3d/planners/API/Grids/PointCloud.hpp
-include/libmove3d/planners/API/Grids/SignField.hpp
-include/libmove3d/planners/API/Grids/SignFieldCell.hpp
-include/libmove3d/planners/API/Grids/ThreeDCell.hpp
-include/libmove3d/planners/API/Grids/ThreeDGrid.hpp
-include/libmove3d/planners/API/Grids/TwoDCell.hpp
-include/libmove3d/planners/API/Grids/TwoDGrid.hpp
-include/libmove3d/planners/API/Grids/gridsAPI.hpp
-include/libmove3d/planners/API/Roadmap/BGL_Graph.hpp
-include/libmove3d/planners/API/Roadmap/compco.hpp
-include/libmove3d/planners/API/Roadmap/edge.hpp
-include/libmove3d/planners/API/Roadmap/graph.hpp
-include/libmove3d/planners/API/Roadmap/graphConverter.hpp
-include/libmove3d/planners/API/Roadmap/node.hpp
-include/libmove3d/planners/API/Search/AStar/AStar.hpp
-include/libmove3d/planners/API/Search/AStar/State.hpp
-include/libmove3d/planners/API/Search/Dijkstra/dijkstra.hpp
-include/libmove3d/planners/API/Search/GraphState.hpp
-include/libmove3d/planners/API/Trajectory/trajectory.hpp
-include/libmove3d/planners/API/planningAPI.hpp
-include/libmove3d/planners/API/project.hpp
-include/libmove3d/planners/API/scene.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_AgentGrid.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_Cell.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_EnvGrid.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_Grid.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_GridState.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_NaturalCell.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_NaturalGrid.hpp
-include/libmove3d/planners/HRI_costspace/Grid/HRICS_TwoDGrid.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_ConfigSpace.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_Distance.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_HAMP.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_Miscellaneous.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_Natural.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_Navigation.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_Visibility.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_Workspace.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_costspace.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_humanCostSpace.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_old.hpp
-include/libmove3d/planners/HRI_costspace/HRICS_otpmotionpl.hpp
-include/libmove3d/planners/HRI_costspace/RRT/HRICS_rrt.hpp
-include/libmove3d/planners/HRI_costspace/RRT/HRICS_rrtExpansion.hpp
-include/libmove3d/planners/HRI_costspace/RRT/HRICS_rrtPlan.hpp
-include/libmove3d/planners/HRI_costspace/RRT/HRICS_rrtPlanExpansion.hpp
-include/libmove3d/planners/planner/Diffusion/EST.hpp
-include/libmove3d/planners/planner/Diffusion/RRT.hpp
-include/libmove3d/planners/planner/Diffusion/TreePlanner.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/BaseExpansion.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Costmap-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/ESTExpansion.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/ManhattanLike-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Multi-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Multi-T-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Multi-TRRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Multi-Threshold-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/RRTExpansion.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Star-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Threshold-RRT.hpp
-include/libmove3d/planners/planner/Diffusion/Variants/Transition-RRT.hpp
-include/libmove3d/planners/planner/Greedy/BodySurfaceSampler.hpp
-include/libmove3d/planners/planner/Greedy/CollisionPoint.hpp
-include/libmove3d/planners/planner/Greedy/CollisionSpace.hpp
-include/libmove3d/planners/planner/Greedy/CollisionSpaceCell.hpp
-include/libmove3d/planners/planner/Greedy/CostGraph.hpp
-include/libmove3d/planners/planner/Greedy/CostMapRRTs.hpp
-include/libmove3d/planners/planner/Greedy/GreedyCost.hpp
-include/libmove3d/planners/planner/Greedy/Seeding.hpp
-include/libmove3d/planners/planner/Greedy/ThresholdPlanner.hpp
-include/libmove3d/planners/planner/PRM/ACR.hpp
-include/libmove3d/planners/planner/PRM/CellPRM.hpp
-include/libmove3d/planners/planner/PRM/PRM.hpp
-include/libmove3d/planners/planner/PRM/PerturbationRoadmap.hpp
-include/libmove3d/planners/planner/PRM/RRM.hpp
-include/libmove3d/planners/planner/PRM/Visibility.hpp
-include/libmove3d/planners/planner/Replanning/AStarReplanner.hpp
-include/libmove3d/planners/planner/Replanning/HandoverReplanner.hpp
-include/libmove3d/planners/planner/Replanning/RRTReplanner.hpp
-include/libmove3d/planners/planner/Replanning/Replanner.hpp
-include/libmove3d/planners/planner/Replanning/ReplanningSimulator.hpp
-include/libmove3d/planners/planner/Replanning/SimpleReplanner.hpp
-include/libmove3d/planners/planner/Replanning/SoftmotionReplanner.hpp
-include/libmove3d/planners/planner/Replanning/StompReplanner.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompCost.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompMultivariateGaussian.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompOptimizer.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompParameters.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompPlanningGroup.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompTrajectory.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Chomp/chompUtils.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Classic/costOptimization.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Classic/roboptimTrajectory.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Classic/smoothing.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/assert.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/constraint_evaluator.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/covariant_trajectory_policy.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/param_server.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/policy.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/policy_improvement.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/policy_improvement_loop.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/stompOptimizer.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/stompParameters.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/stompStatistics.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/Stomp/task.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/plannarTrajectorySmoothing.hpp
-include/libmove3d/planners/planner/TrajectoryOptim/trajectoryOptim.hpp
-include/libmove3d/planners/planner/cost_space.hpp
-include/libmove3d/planners/planner/planEnvironment.hpp
-include/libmove3d/planners/planner/planner.hpp
-include/libmove3d/planners/planner/plannerFunctions.hpp
-include/libmove3d/planners/utils/ConfGenerator.h
-include/libmove3d/planners/utils/OtpUtils.hpp
-include/libmove3d/planners/utils/PlanningThread.h
-include/libmove3d/planners/utils/PlanningThread.hpp
-include/libmove3d/planners/utils/SaveContext.hpp
-include/libmove3d/planners/utils/StatCostStructure.hpp
-include/libmove3d/planners/utils/Statistics.hpp
-include/libmove3d/planners/utils/testModel.hpp
-lib/libmove3d-planners.so
-lib/pkgconfig/libmove3d-planners.pc
diff --git a/libmove3d-planners/depend.mk b/libmove3d-planners/depend.mk
deleted file mode 100644
index 6736bbd86c2226524e04c1bb98d18e519bb63d04..0000000000000000000000000000000000000000
--- a/libmove3d-planners/depend.mk
+++ /dev/null
@@ -1,41 +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.
-#
-# Jim Mainprice on Thu 12 Nov 2010
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-LIBMOVE3D_PLANNERS_DEPEND_MK:= ${LIBMOVE3D_PLANNERS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= libmove3d-planners
-endif
-
-ifeq (+,$(LIBMOVE3D_PLANNERS_DEPEND_MK)) # ----------------------------------
-
-PREFER.libmove3d-planners?= robotpkg
-
-DEPEND_USE+= libmove3d-planners
-
-DEPEND_ABI.libmove3d-planners?= libmove3d-planners>=1.4.0
-DEPEND_DIR.libmove3d-planners?= ../../wip/libmove3d-planners
-
-SYSTEM_SEARCH.libmove3d-planners=\
- include/libmove3d/planners/planner/planner.hpp \
- lib/libmove3d-planners.so \
- lib/pkgconfig/libmove3d-planners.pc
-
-endif # libmove3d_planners_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/libmove3d-planners/distinfo b/libmove3d-planners/distinfo
deleted file mode 100644
index 607e7b07de0e0e1afe9a616841107baeb012b2fe..0000000000000000000000000000000000000000
--- a/libmove3d-planners/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (libmove3d-planners-1.4.0.tar.gz) = 77cd2a5d669d492b46892f2abd1b413ea60f5241
-RMD160 (libmove3d-planners-1.4.0.tar.gz) = f3b769e215f6572bd620f2de6fc1987e91d21b6b
-Size (libmove3d-planners-1.4.0.tar.gz) = 856435 bytes