diff --git a/Makefile b/Makefile
index 12e649c6bc7ee5f46419f7431591635961afd9b5..3f2e1ac373bed6d2c4861b3a7f5b1601306c108a 100644
--- a/Makefile
+++ b/Makefile
@@ -42,7 +42,6 @@ SUBDIR+= hrp2-14-description
SUBDIR+= hrp2-bringup
SUBDIR+= hrp2-computer-monitor
SUBDIR+= hrp2-dev
-SUBDIR+= hrp2-machine
SUBDIR+= infuse-asn1-conversions
SUBDIR+= infuse-asn1-types
SUBDIR+= infuse-envire
diff --git a/hrp2-bringup/Makefile b/hrp2-bringup/Makefile
index 206c198bf305f87a4161be995895453e1bc59053..36730d7e815739f063027dffc15d8ae04ac8338a 100644
--- a/hrp2-bringup/Makefile
+++ b/hrp2-bringup/Makefile
@@ -19,9 +19,9 @@ NO_PUBLIC_BIN= ${RESTRICTED}
DYNAMIC_PLIST_DIRS+= share/doc/hrp2_bringup
include ../../pkgtools/pkg-config/depend.mk
+include ../../robots/hrp2-machine/depend.mk
include ../../wip/hrp2-14-description/depend.mk
include ../../wip/hrp2-computer-monitor/depend.mk
-include ../../wip/hrp2-machine/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
include ../../mk/sysdep/graphviz.mk
diff --git a/hrp2-machine/DESCR b/hrp2-machine/DESCR
deleted file mode 100644
index 2dd64efd60e6c2563711996da4f5a8fd603055b3..0000000000000000000000000000000000000000
--- a/hrp2-machine/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-HRP-2 machine description.
diff --git a/hrp2-machine/Makefile b/hrp2-machine/Makefile
deleted file mode 100644
index ac119dcf5154ed55d4a68d3b1d286b082f9342d1..0000000000000000000000000000000000000000
--- a/hrp2-machine/Makefile
+++ /dev/null
@@ -1,34 +0,0 @@
-# robotpkg Makefile for: robots/hrp2-machine
-# Created: Olivier Stasse on Wed, 17 Jun 2015
-#
-VERSION= 1.0.2
-DISTNAME= hrp2-machine-${VERSION}
-CATEGORIES= robots
-MASTER_SITES= ${MASTER_SITE_JRL}ros/${PKGBASE}/
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_JRL}robots/ros-hrp2/hrp2-machine
-
-MAINTAINER= gepetto@laas.fr
-COMMENT= Hrp2 machine description
-LICENSE= openhrp-grx-license
-
-WRKSRC= ${WRKDIR}/hrp2_machine-${VERSION}
-
-RESTRICTED= Redistribution of repackaged binaries not permitted
-NO_PUBLIC_SRC= ${RESTRICTED}
-NO_PUBLIC_BIN= ${RESTRICTED}
-
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-DYNAMIC_PLIST_DIRS+= share/doc/hrp2_machine
-
-include ../../devel/ros-catkin/depend.mk
-include ../../interfaces/ros-common-msgs/depend.mk
-include ../../interfaces/ros-std-msgs/depend.mk
-include ../../middleware/ros-comm/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/doxygen.mk
-include ../../mk/sysdep/graphviz.mk
-include ../../mk/sysdep/pdflatex.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/hrp2-machine/PLIST b/hrp2-machine/PLIST
deleted file mode 100644
index 8663331407c893fc251a4d870a4d962c784cc9b7..0000000000000000000000000000000000000000
--- a/hrp2-machine/PLIST
+++ /dev/null
@@ -1,10 +0,0 @@
-@comment Tue May 31 14:48:49 CEST 2016
-include/hrp2/machine/config.h
-include/hrp2/machine/config.hh
-include/hrp2/machine/deprecated.hh
-include/hrp2/machine/warning.hh
-lib/pkgconfig/hrp2_machine.pc
-share/hrp2_machine/hrp2_10.machine
-share/hrp2_machine/hrp2_14.machine
-share/hrp2_machine/package.xml
-share/hrp2_machine/sim.machine
diff --git a/hrp2-machine/depend.mk b/hrp2-machine/depend.mk
deleted file mode 100644
index 4d014040fdba089cd2064b1a8b85a2004b87c288..0000000000000000000000000000000000000000
--- a/hrp2-machine/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: robots/hrp2-machine
-# Created: Olivier Stasse on Wed, 22 Jun 2015
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-HRP2_MACHINE_DEPEND_MK:= ${HRP2_MACHINE_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= hrp2-machine
-endif
-
-ifeq (+,$(HRP2_MACHINE_DEPEND_MK)) # ---------------------------------------
-
-PREFER.hrp2-machine?= robotpkg
-
-SYSTEM_SEARCH.hrp2-machine=\
- 'lib/pkgconfig/hrp2_machine.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= hrp2-machine
-
-DEPEND_ABI.hrp2-machine?= hrp2-machine>=1.0.0
-DEPEND_DIR.hrp2-machine?= ../../wip/hrp2-machine
-
-endif # HRP2_MACHINE_DEPEND_MK ---------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/hrp2-machine/distinfo b/hrp2-machine/distinfo
deleted file mode 100644
index 18b63cfaf01324b6454a54a981559659e0718e91..0000000000000000000000000000000000000000
--- a/hrp2-machine/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (hrp2-machine-1.0.2.tar.gz) = bf31bba01af0c1f937a0197e9df8405c6c98901c
-RMD160 (hrp2-machine-1.0.2.tar.gz) = ab4b863174afadabd9188f200465c98a875f5c9c
-Size (hrp2-machine-1.0.2.tar.gz) = 80126 bytes
diff --git a/sot-hrp2/Makefile b/sot-hrp2/Makefile
index 3d31c8ab94e30ba11155cae05a00b33955eb5a0f..bb1ed991e0abc3fa77bd4fec2ab8b5ecd0a8dbb6 100644
--- a/sot-hrp2/Makefile
+++ b/sot-hrp2/Makefile
@@ -24,11 +24,11 @@ include ../../motion/sot-pattern-generator/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../robots/hrp2-14/depend.mk
include ../../robots/hrp2-14/depend.mk
+include ../../robots/hrp2-machine/depend.mk
include ../../scripts/py-sot-application/depend.mk
include ../../wip/hrp2-14-description/depend.mk
include ../../wip/hrp2-bringup/depend.mk
include ../../wip/hrp2-computer-monitor/depend.mk
-include ../../wip/hrp2-machine/depend.mk
include ../../wip/sot-dyninv/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/sot-hrprtc-hrp2/Makefile b/sot-hrprtc-hrp2/Makefile
index 3f0ad2063f890fc3d54c6e77fd5a044ab25792c5..31e561c606678a5dca8c0a3bb88bda72c7180d13 100644
--- a/sot-hrprtc-hrp2/Makefile
+++ b/sot-hrprtc-hrp2/Makefile
@@ -31,11 +31,11 @@ include ../../motion/sot-pattern-generator/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../robots/hrp2-14/depend.mk
include ../../robots/hrp2-14/depend.mk
+include ../../robots/hrp2-machine/depend.mk
include ../../scripts/py-sot-application/depend.mk
include ../../wip/hrp2-14-description/depend.mk
include ../../wip/hrp2-bringup/depend.mk
include ../../wip/hrp2-computer-monitor/depend.mk
-include ../../wip/hrp2-machine/depend.mk
include ../../wip/sot-dyninv/depend.mk
include ../../wip/sot-hrp2/depend.mk
include ../../mk/sysdep/cmake.mk