diff --git a/Makefile b/Makefile
index 8f46e80093a898f7a96cea6afee4375fae6f89c2..fa922252184e01a98d4fc59ab30752f0d0a08194 100644
--- a/Makefile
+++ b/Makefile
@@ -83,7 +83,6 @@ SUBDIR+=	py-morse
 SUBDIR+=	py-sot-tools-v3
 SUBDIR+=	rfid-genom
 SUBDIR+=	robot-capsule-urdf
-SUBDIR+=	robotModelParser-libs
 SUBDIR+=	sot-application
 SUBDIR+=	sot-core-v3
 SUBDIR+=	sot-dynamic-pinocchio-v3
diff --git a/robotModelParser-libs/DESCR b/robotModelParser-libs/DESCR
deleted file mode 100644
index b088351cf795b4868e149a0b0a59a6c883409990..0000000000000000000000000000000000000000
--- a/robotModelParser-libs/DESCR
+++ /dev/null
@@ -1,2 +0,0 @@
-This C++ library offers a class URDFModel, which can be used to parse URDF or Collada 1.5 files. It constructs an object model (C++ URDF) of the robot.
-This library is based on the robot_model stack (http://www.ros.org/wiki/robot_model) 
diff --git a/robotModelParser-libs/Makefile b/robotModelParser-libs/Makefile
deleted file mode 100644
index 9685df9407b6d71364fb2d53d9c2887b4cfa3e96..0000000000000000000000000000000000000000
--- a/robotModelParser-libs/Makefile
+++ /dev/null
@@ -1,19 +0,0 @@
-# robotpkg Makefile for:	graphics/robotModelParser-libs
-# Created:			Francois Lancelot Fri, 16 Sep 2011
-#
-
-DISTNAME= 		robotModelParser-libs-1.0
-CATEGORIES=		graphics
-MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=robotModelParser-libs/}
-MASTER_REPOSITORY=	git ssh://trac.laas.fr/git/robots/robotModelParser-libs
-
-MAINTAINER=		lancelot.fr@gmail.com
-COMMENT=		Library that offers a class URDFModel, which can be used to parse URDF or Collada 1.5 files.
-LICENSE=		original-bsd
-
-
-include ../../graphics/collada-dom/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/robotModelParser-libs/PLIST b/robotModelParser-libs/PLIST
deleted file mode 100644
index 26b6dee47b1b0b34529e9b6b49b7b309a21ff949..0000000000000000000000000000000000000000
--- a/robotModelParser-libs/PLIST
+++ /dev/null
@@ -1,12 +0,0 @@
-@comment Fri Sep 16 17:09:15 CEST 2011
-include/robotModelParser/parsers/collada_parser.h
-include/robotModelParser/parsers/urdf_parser.h
-include/robotModelParser/urdf_interface/color.h
-include/robotModelParser/urdf_interface/joint.h
-include/robotModelParser/urdf_interface/link.h
-include/robotModelParser/urdf_interface/model.h
-include/robotModelParser/urdf_interface/pose.h
-include/robotModelParser/urdf_interface/tinyxml/tinystr.h
-include/robotModelParser/urdf_interface/tinyxml/tinyxml.h
-include/robotModelParser/urdf_model.h
-lib/librobotModelParser.so
diff --git a/robotModelParser-libs/depend.mk b/robotModelParser-libs/depend.mk
deleted file mode 100644
index 9d46d716097390f378ab58f8af9b927f9a802935..0000000000000000000000000000000000000000
--- a/robotModelParser-libs/depend.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# robotpkg depend.mk for:	graphics/robotModelParser-libs
-# Created:			Francois Lancelot Fri, 16 Sep 2011
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-ROBOTMODELPARSER_LIBS_DEPEND_MK:=${ROBOTMODELPARSER_LIBS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		robotModelParser-libs
-endif
-
-ifeq (+,$(ROBOTMODELPARSER_LIBS_DEPEND_M)) # ---------------------------------
-
-PREFER.robotModelParser-libs?=	robotpkg
-
-DEPEND_USE+=		robotModelParser-libs
-
-DEPEND_ABI.robotModelParser-libs?=robotModelParser-libs>=1.0
-DEPEND_DIR.robotModelParser-libs?=../../graphics/robotModelParser-libs
-
-SYSTEM_SEARCH.robotModelParser-libs=\
-	include/robotModelParser/urdf_model.h	\
-	lib/librobotModelParser.so
-
-endif # ROBOTMODELPARSER_LIBS_DEPEND_MK ---------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
-
diff --git a/robotModelParser-libs/distinfo b/robotModelParser-libs/distinfo
deleted file mode 100644
index 168897334a563ad58c5f2e44770492d3ceb8540e..0000000000000000000000000000000000000000
--- a/robotModelParser-libs/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (robotModelParser-libs-1.0.tar.gz) = bf4c02bd3f95f8499e5316250f747a8ff97027eb
-RMD160 (robotModelParser-libs-1.0.tar.gz) = 77095ff317e40745304e27c7279d6acfe8f433e4
-Size (robotModelParser-libs-1.0.tar.gz) = 282427 bytes