diff --git a/Makefile b/Makefile
index 0465671058f3c0df50299b7741f3b2f74cba0ed9..0c3ab9957b937285c185b36b92ff558c04b5c667 100644
--- a/Makefile
+++ b/Makefile
@@ -14,7 +14,6 @@ SUBDIR+=	ddp-actuator-solver
 SUBDIR+=	dynamic-graph-tutorial
 SUBDIR+=	dynamic-graph-v3
 SUBDIR+=	dynamic-introspection
-SUBDIR+=	eiquadprog
 SUBDIR+=	example-adder
 SUBDIR+=	fcl
 SUBDIR+=	FRILibrary
diff --git a/eiquadprog/DESCR b/eiquadprog/DESCR
deleted file mode 100644
index a8a574ff67528eb137a9aec02952a907e212a6f8..0000000000000000000000000000000000000000
--- a/eiquadprog/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-A C++ implementation of the algorithm of Goldfarb and Idnani for the solution of a (convex) Quadratic Programming problem by means of a dual method.
diff --git a/eiquadprog/Makefile b/eiquadprog/Makefile
deleted file mode 100644
index 4fbc6b6998a1a58bf40f601b3c980a9d2d0431ac..0000000000000000000000000000000000000000
--- a/eiquadprog/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-# robotpkg Makefile for:	wip/eiquadprog
-# Created:			Guilhem Saurel on Tue, 17 Sep 2019
-#
-
-ORG=			stack-of-tasks
-NAME=			eiquadprog
-VERSION=		1.1.3
-
-CATEGORIES=		wip
-COMMENT=		algorithm of Goldfarb and Idnani for the solution of a QP
-LICENSE=		gnu-lgpl-v3
-
-DEPEND_ABI.eigen3+=	eigen3>=3.2.92
-
-include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../math/eigen3/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/eiquadprog/PLIST b/eiquadprog/PLIST
deleted file mode 100644
index 2a7ff712b383ffb17ea12d6138ce6d33439d5790..0000000000000000000000000000000000000000
--- a/eiquadprog/PLIST
+++ /dev/null
@@ -1,13 +0,0 @@
-@comment Tue Sep 17 13:38:41 CEST 2019
-include/eiquadprog/config.hpp
-include/eiquadprog/deprecated.hpp
-include/eiquadprog/eiquadprog-fast.hpp
-include/eiquadprog/eiquadprog-fast.hxx
-include/eiquadprog/eiquadprog-rt.hpp
-include/eiquadprog/eiquadprog-rt.hxx
-include/eiquadprog/eiquadprog.hpp
-include/eiquadprog/warning.hpp
-lib/cmake/eiquadprog/eiquadprogConfig.cmake
-lib/cmake/eiquadprog/eiquadprogConfigVersion.cmake
-lib/cmake/eiquadprog/eiquadprogTargets.cmake
-lib/pkgconfig/eiquadprog.pc
diff --git a/eiquadprog/depend.mk b/eiquadprog/depend.mk
deleted file mode 100644
index 363e0aca8260f6e3d08f94de64d35395ec726a1c..0000000000000000000000000000000000000000
--- a/eiquadprog/depend.mk
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg depend.mk for:	wip/eiquadprog
-# Created:			Guilhem Saurel on Tue, 17 Sep 2019
-#
-
-DEPEND_DEPTH:=			${DEPEND_DEPTH}+
-EIQUADPROG_DEPEND_MK:=		${EIQUADPROG_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=			eiquadprog
-endif
-
-ifeq (+,$(EIQUADPROG_DEPEND_MK)) # ------------------------------------------
-
-PREFER.eiquadprog?=		robotpkg
-
-#TODO
-SYSTEM_SEARCH.eiquadprog=\
-  'include/eiquadprog/config.hpp:/EIQUADPROG_VERSION /s/[^0-9.]//gp'			\
-  'lib/cmake/eiquadprog/eiquadprogConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp'	\
-  'lib/pkgconfig/eiquadprog.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+=			eiquadprog
-
-DEPEND_ABI.eiquadprog?=		eiquadprog>=1.1.0
-DEPEND_DIR.eiquadprog?=		../../wip/eiquadprog
-
-endif # EIQUADPROG_DEPEND_MK ------------------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/eiquadprog/distinfo b/eiquadprog/distinfo
deleted file mode 100644
index a5e45b57f9f12a88c497fb73acd441ca5cfa0cd3..0000000000000000000000000000000000000000
--- a/eiquadprog/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (eiquadprog-1.1.3.tar.gz) = e4b6491448ee230c16106b1620d6047b4f62416e
-RMD160 (eiquadprog-1.1.3.tar.gz) = a68fecf85fb263358693c8a7c1a082ddaf92654f
-Size (eiquadprog-1.1.3.tar.gz) = 854342 bytes
diff --git a/jrl-walkgen-v3/Makefile b/jrl-walkgen-v3/Makefile
index 3266e602901e7256b3b0dfa04299e8f5f645b0be..3f7807ba20bac47f36eefe93ed57db0c63a47797 100644
--- a/jrl-walkgen-v3/Makefile
+++ b/jrl-walkgen-v3/Makefile
@@ -15,7 +15,7 @@ CONFLICTS+=		${NAME}
 
 include ../../devel/jrl-cmakemodules/Makefile.common
 include ../../wip/talos-data/depend.mk
-include ../../wip/eiquadprog/depend.mk
+include ../../math/eiquadprog/depend.mk
 include ../../graphics/simple-humanoid-description/depend.mk
 include ../../math/pinocchio/depend.mk
 include ../../mk/sysdep/cmake.mk
diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index ba14d23d72704b0cea545c6d2fa57c81046e17a1..02b8a87bc2d89d30370c5525f544996f2e4cb5bf 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -14,7 +14,7 @@ USE_PYTHON_ONLY=	true
 
 include ../../${CATEGORIES}/${NAME}/depend.mk
 include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/eiquadprog/depend.mk
+include ../../math/eiquadprog/depend.mk
 include ../../devel/boost-headers/depend.mk
 include ../../devel/boost-libs/depend.mk
 include ../../graphics/simple-humanoid-description/depend.mk
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index baead4d05c8ffcd6a469a43b948c2cfdc104d8f6..8a6f40ea0313a7dfb16d82e62fc28a7853c169da 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -14,7 +14,7 @@ CMAKE_ARGS+=		-DBUILD_PYTHON_INTERFACE=OFF
 CMAKE_ARGS+=		-DINSTALL_DOCUMENTATION=OFF
 
 include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/eiquadprog/depend.mk
+include ../../math/eiquadprog/depend.mk
 include ../../devel/boost-headers/depend.mk
 include ../../devel/boost-libs/depend.mk
 include ../../graphics/simple-humanoid-description/depend.mk