diff --git a/Makefile b/Makefile
index e67380bacffca8601d8e8f65d8285eb0d49f581e..d06f8a25ba519537ea4e2f1f2a015c821329ffff 100644
--- a/Makefile
+++ b/Makefile
@@ -63,7 +63,6 @@ SUBDIR+= prf-roboticsgroup-gazebo-plugins
SUBDIR+= prf-teleop-tools
SUBDIR+= py-bmtools
SUBDIR+= py-casadi
-SUBDIR+= py-crocoddyl
SUBDIR+= py-dynamic-graph-bridge-v3
SUBDIR+= py-dynamic-graph-tutorial
SUBDIR+= py-dynamic-graph-v3
diff --git a/py-crocoddyl/DESCR b/py-crocoddyl/DESCR
deleted file mode 100644
index db4d25005b3a2b970b4f7a52b88cc16f7aa1270b..0000000000000000000000000000000000000000
--- a/py-crocoddyl/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on an efficient Differential Dynamic Programming (DDP) algorithm. Crocoddyl computes optimal trajectories along to optimal feedback gains.
diff --git a/py-crocoddyl/Makefile b/py-crocoddyl/Makefile
deleted file mode 100644
index 224833c5dba1b7f444ae426d10dfa2766f27dc8d..0000000000000000000000000000000000000000
--- a/py-crocoddyl/Makefile
+++ /dev/null
@@ -1,41 +0,0 @@
-# robotpkg Makefile for: wip/py-crocoddyl-api
-# Created: Guilhem Saurel on Wed, 03 Apr 2019
-#
-
-ORG= loco-3d
-NAME= crocoddyl
-VERSION= 1.2.1
-
-CATEGORIES= wip
-COMMENT= Contact RObot COntrol by Differential DYnamic programming Library
-LICENSE= 2-clause-bsd
-MAINTAINER= gepetto-soft@laas.fr
-
-CONFLICTS+= py[0-9][0-9]-crocoddyl
-
-USE_PYTHON= true
-
-# parallel builds exhaust memory - until a better solution is found
-MAKE_JOBS_SAFE= no
-
-include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/mk/sysdep/py-scipy.mk
-include ../../wip/example-robot-data/depend.mk
-include ../../wip/py-example-robot-data/depend.mk
-include ../../wip/py-quadprog/depend.mk
-include ../../graphics/assimp/depend.mk
-include ../../graphics/urdfdom/depend.mk
-include ../../mapping/octomap/depend.mk
-include ../../math/eigen3/depend.mk
-include ../../math/py-eigenpy/depend.mk
-include ../../math/pinocchio/depend.mk
-include ../../math/py-pinocchio/depend.mk
-include ../../path/hpp-fcl/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++11.mk
-
-include ../../mk/robotpkg.mk
diff --git a/py-crocoddyl/PLIST b/py-crocoddyl/PLIST
deleted file mode 100644
index 684c4375c4794faadb61688112a6ba724b1576a4..0000000000000000000000000000000000000000
--- a/py-crocoddyl/PLIST
+++ /dev/null
@@ -1,151 +0,0 @@
-@comment Fri Aug 30 17:54:29 CEST 2019
-include/crocoddyl/config.hh
-include/crocoddyl/core/action-base.hpp
-include/crocoddyl/core/action-base.hxx
-include/crocoddyl/core/actions/diff-lqr.hpp
-include/crocoddyl/core/actions/diff-lqr.hxx
-include/crocoddyl/core/actions/lqr.hpp
-include/crocoddyl/core/actions/lqr.hxx
-include/crocoddyl/core/actions/unicycle.hpp
-include/crocoddyl/core/actions/unicycle.hxx
-include/crocoddyl/core/activation-base.hpp
-include/crocoddyl/core/activations/quadratic-barrier.hpp
-include/crocoddyl/core/activations/quadratic.hpp
-include/crocoddyl/core/activations/smooth-abs.hpp
-include/crocoddyl/core/activations/weighted-quadratic-barrier.hpp
-include/crocoddyl/core/activations/weighted-quadratic.hpp
-include/crocoddyl/core/actuation-base.hpp
-include/crocoddyl/core/actuation/actuation-squashing.hpp
-include/crocoddyl/core/actuation/squashing-base.hpp
-include/crocoddyl/core/actuation/squashing/smooth-sat.hpp
-include/crocoddyl/core/data-collector-base.hpp
-include/crocoddyl/core/data/actuation.hpp
-include/crocoddyl/core/diff-action-base.hpp
-include/crocoddyl/core/diff-action-base.hxx
-include/crocoddyl/core/fwd.hpp
-include/crocoddyl/core/integrator/euler.hpp
-include/crocoddyl/core/integrator/euler.hxx
-include/crocoddyl/core/integrator/rk4.hpp
-include/crocoddyl/core/mathbase.hpp
-include/crocoddyl/core/numdiff/action.hpp
-include/crocoddyl/core/numdiff/action.hxx
-include/crocoddyl/core/numdiff/activation.hpp
-include/crocoddyl/core/numdiff/activation.hxx
-include/crocoddyl/core/numdiff/actuation.hpp
-include/crocoddyl/core/numdiff/actuation.hxx
-include/crocoddyl/core/numdiff/diff-action.hpp
-include/crocoddyl/core/numdiff/diff-action.hxx
-include/crocoddyl/core/numdiff/state.hpp
-include/crocoddyl/core/numdiff/state.hxx
-include/crocoddyl/core/optctrl/shooting.hpp
-include/crocoddyl/core/optctrl/shooting.hxx
-include/crocoddyl/core/solver-base.hpp
-include/crocoddyl/core/solvers/box-ddp.hpp
-include/crocoddyl/core/solvers/box-fddp.hpp
-include/crocoddyl/core/solvers/box-kkt.hpp
-include/crocoddyl/core/solvers/box-qp.hpp
-include/crocoddyl/core/solvers/ddp.hpp
-include/crocoddyl/core/solvers/fddp.hpp
-include/crocoddyl/core/solvers/kkt.hpp
-include/crocoddyl/core/solvers/qp.hpp
-include/crocoddyl/core/state-base.hpp
-include/crocoddyl/core/state-base.hxx
-include/crocoddyl/core/states/euclidean.hpp
-include/crocoddyl/core/states/euclidean.hxx
-include/crocoddyl/core/utils/callbacks.hpp
-include/crocoddyl/core/utils/exception.hpp
-include/crocoddyl/core/utils/math.hpp
-include/crocoddyl/core/utils/motion-display.hpp
-include/crocoddyl/core/utils/robot-loader.hpp
-include/crocoddyl/core/utils/solution-plot.hpp
-include/crocoddyl/core/utils/timer.hpp
-include/crocoddyl/core/utils/to-string.hpp
-include/crocoddyl/core/utils/version.hpp
-include/crocoddyl/deprecated.hh
-include/crocoddyl/multibody/actions/contact-fwddyn.hpp
-include/crocoddyl/multibody/actions/contact-fwddyn.hxx
-include/crocoddyl/multibody/actions/free-fwddyn.hpp
-include/crocoddyl/multibody/actions/free-fwddyn.hxx
-include/crocoddyl/multibody/actions/impulse-fwddyn.hpp
-include/crocoddyl/multibody/actions/impulse-fwddyn.hxx
-include/crocoddyl/multibody/actuations/floating-base.hpp
-include/crocoddyl/multibody/actuations/full.hpp
-include/crocoddyl/multibody/actuations/multicopter-base.hpp
-include/crocoddyl/multibody/contact-base.hpp
-include/crocoddyl/multibody/contact-base.hxx
-include/crocoddyl/multibody/contacts/contact-3d.hpp
-include/crocoddyl/multibody/contacts/contact-3d.hxx
-include/crocoddyl/multibody/contacts/contact-6d.hpp
-include/crocoddyl/multibody/contacts/contact-6d.hxx
-include/crocoddyl/multibody/contacts/multiple-contacts.hpp
-include/crocoddyl/multibody/contacts/multiple-contacts.hxx
-include/crocoddyl/multibody/cost-base.hpp
-include/crocoddyl/multibody/cost-base.hxx
-include/crocoddyl/multibody/costs/centroidal-momentum.hpp
-include/crocoddyl/multibody/costs/centroidal-momentum.hxx
-include/crocoddyl/multibody/costs/com-position.hpp
-include/crocoddyl/multibody/costs/com-position.hxx
-include/crocoddyl/multibody/costs/contact-force.hpp
-include/crocoddyl/multibody/costs/contact-force.hxx
-include/crocoddyl/multibody/costs/contact-friction-cone.hpp
-include/crocoddyl/multibody/costs/contact-friction-cone.hxx
-include/crocoddyl/multibody/costs/control.hpp
-include/crocoddyl/multibody/costs/control.hxx
-include/crocoddyl/multibody/costs/cost-sum.hpp
-include/crocoddyl/multibody/costs/cost-sum.hxx
-include/crocoddyl/multibody/costs/frame-placement.hpp
-include/crocoddyl/multibody/costs/frame-placement.hxx
-include/crocoddyl/multibody/costs/frame-rotation.hpp
-include/crocoddyl/multibody/costs/frame-rotation.hxx
-include/crocoddyl/multibody/costs/frame-translation.hpp
-include/crocoddyl/multibody/costs/frame-translation.hxx
-include/crocoddyl/multibody/costs/frame-velocity.hpp
-include/crocoddyl/multibody/costs/frame-velocity.hxx
-include/crocoddyl/multibody/costs/impulse-com.hpp
-include/crocoddyl/multibody/costs/impulse-com.hxx
-include/crocoddyl/multibody/costs/state.hpp
-include/crocoddyl/multibody/costs/state.hxx
-include/crocoddyl/multibody/data/contacts.hpp
-include/crocoddyl/multibody/data/impulses.hpp
-include/crocoddyl/multibody/data/multibody.hpp
-include/crocoddyl/multibody/frames.hpp
-include/crocoddyl/multibody/friction-cone.hpp
-include/crocoddyl/multibody/friction-cone.hxx
-include/crocoddyl/multibody/fwd.hpp
-include/crocoddyl/multibody/impulse-base.hpp
-include/crocoddyl/multibody/impulse-base.hxx
-include/crocoddyl/multibody/impulses/impulse-3d.hpp
-include/crocoddyl/multibody/impulses/impulse-3d.hxx
-include/crocoddyl/multibody/impulses/impulse-6d.hpp
-include/crocoddyl/multibody/impulses/impulse-6d.hxx
-include/crocoddyl/multibody/impulses/multiple-impulses.hpp
-include/crocoddyl/multibody/impulses/multiple-impulses.hxx
-include/crocoddyl/multibody/numdiff/contact.hpp
-include/crocoddyl/multibody/numdiff/contact.hxx
-include/crocoddyl/multibody/numdiff/cost.hpp
-include/crocoddyl/multibody/numdiff/cost.hxx
-include/crocoddyl/multibody/states/multibody.hpp
-include/crocoddyl/multibody/states/multibody.hxx
-include/crocoddyl/multibody/utils/quadruped-gaits.hpp
-include/crocoddyl/warning.hh
-lib/libcrocoddyl.so
-lib/pkgconfig/crocoddyl.pc
-${PYTHON_SITELIB}/crocoddyl/__init__.py
-${PYTHON_SITELIB}/crocoddyl/examples/__init__.py
-${PYTHON_SITELIB}/crocoddyl/examples/arm_manipulation.py
-${PYTHON_SITELIB}/crocoddyl/examples/bipedal_walk.py
-${PYTHON_SITELIB}/crocoddyl/examples/bipedal_walk_ubound.py
-${PYTHON_SITELIB}/crocoddyl/examples/boxfddp_vs_boxddp.py
-${PYTHON_SITELIB}/crocoddyl/examples/double_pendulum.py
-${PYTHON_SITELIB}/crocoddyl/examples/humanoid_manipulation.py
-${PYTHON_SITELIB}/crocoddyl/examples/humanoid_manipulation_ubound.py
-${PYTHON_SITELIB}/crocoddyl/examples/humanoid_taichi.py
-${PYTHON_SITELIB}/crocoddyl/examples/quadrotor.py
-${PYTHON_SITELIB}/crocoddyl/examples/quadrotor_ubound.py
-${PYTHON_SITELIB}/crocoddyl/examples/quadrupedal_gaits.py
-${PYTHON_SITELIB}/crocoddyl/examples/quadrupedal_walk_ubound.py
-${PYTHON_SITELIB}/crocoddyl/libcrocoddyl_pywrap${PYTHON_EXT_SUFFIX}
-${PYTHON_SITELIB}/crocoddyl/utils/__init__.py
-${PYTHON_SITELIB}/crocoddyl/utils/biped.py
-${PYTHON_SITELIB}/crocoddyl/utils/pendulum.py
-${PYTHON_SITELIB}/crocoddyl/utils/quadruped.py
diff --git a/py-crocoddyl/depend.mk b/py-crocoddyl/depend.mk
deleted file mode 100644
index 7d0d78025c7b7f9e84f461a9bd7c3982463116bb..0000000000000000000000000000000000000000
--- a/py-crocoddyl/depend.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-# robotpkg depend.mk for: wip/py-crocoddyl
-# Created: Guilhem Saurel on Wed, 4 Apr 2019
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-PY_CROCODDYL_DEPEND_MK:= ${PY_CROCODDYL_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= py-crocoddyl
-endif
-
-ifeq (+,$(PY_CROCODDYL_DEPEND_MK)) # ------------------------------------------
-
-PREFER.py-crocoddyl?= robotpkg
-
-SYSTEM_SEARCH.py-crocoddyl= \
- 'include/crocoddyl/config.hh:/CROCODDYL_VERSION/s/[^0-9.]//gp' \
- 'lib/cmake/crocoddyl/crocoddylConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
- 'lib/pkgconfig/crocoddyl.pc:/Version/s/[^0-9.]//gp' \
- '${PYTHON_SYSLIBSEARCH}/crocoddyl/__init__.py'
-
-DEPEND_USE+= py-crocoddyl
-
-DEPEND_ABI.py-crocoddyl?= ${PKGTAG.python-}crocoddyl>=0.9.0
-DEPEND_DIR.py-crocoddyl?= ../../wip/py-crocoddyl
-
-include ../../mk/sysdep/python.mk
-
-endif # PY_CROCODDYL_DEPEND_MK ------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-crocoddyl/distinfo b/py-crocoddyl/distinfo
deleted file mode 100644
index 06e1062022c0f1c713bf9eeb5a053bca36797093..0000000000000000000000000000000000000000
--- a/py-crocoddyl/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (crocoddyl-1.2.1.tar.gz) = b3760520ffc1cc04c08bb2fabf9cae556573eca2
-RMD160 (crocoddyl-1.2.1.tar.gz) = 6136f2692f51dfa09459326a5fb92eb601e4c960
-Size (crocoddyl-1.2.1.tar.gz) = 1863027 bytes