diff --git a/Makefile b/Makefile
index 72289fef9a0b15458f04734d6967813294078f40..a1cadc714083455ecb903b22367b251013d5eb1a 100644
--- a/Makefile
+++ b/Makefile
@@ -9,7 +9,6 @@ SUBDIR+= backward-ros
SUBDIR+= can-utils
SUBDIR+= cppad
SUBDIR+= cppadcodegen
-SUBDIR+= curves
SUBDIR+= dptu-genom3
SUBDIR+= ddp-actuator-solver
SUBDIR+= dynamic-graph-tutorial
diff --git a/curves/DESCR b/curves/DESCR
deleted file mode 100644
index ffd869b25c06a5fad4b42204577e73225e8e7799..0000000000000000000000000000000000000000
--- a/curves/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-A template-based Library for creating curves of arbitrary order and dimension, eventually subject to derivative constraints. The main use of the library is the creation of end-effector trajectories for legged robots.
diff --git a/curves/Makefile b/curves/Makefile
deleted file mode 100644
index 4348899a5b2c4e87c3abafe2c581a37aa7fce0de..0000000000000000000000000000000000000000
--- a/curves/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-# robotpkg Makefile for: wip/curves
-# Created: Guilhem Saurel on Wed, 15 Jan 2020
-#
-
-ORG= loco-3d
-NAME= curves
-VERSION= 0.4.1
-
-CATEGORIES= wip
-COMMENT= Library for creating curves
-
-CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-
-include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../math/eigen3/depend.mk
-include ../../math/pinocchio/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/curves/PLIST b/curves/PLIST
deleted file mode 100644
index fc17b9dc38427c0a17360da32421b2f8037542fe..0000000000000000000000000000000000000000
--- a/curves/PLIST
+++ /dev/null
@@ -1,36 +0,0 @@
-@comment Wed Apr 17 11:40:08 CEST 2019
-include/curves/MathDefs.h
-include/curves/bernstein.h
-include/curves/bezier_curve.h
-include/curves/config.hh
-include/curves/cubic_hermite_spline.h
-include/curves/cubic_spline.h
-include/curves/curve_abc.h
-include/curves/curve_constraint.h
-include/curves/curve_conversion.h
-include/curves/deprecated.hh
-include/curves/exact_cubic.h
-include/curves/fwd.h
-include/curves/helpers/effector_spline.h
-include/curves/helpers/effector_spline_rotation.h
-include/curves/linear_variable.h
-include/curves/optimization/definitions.h
-include/curves/optimization/details.h
-include/curves/optimization/integral_cost.h
-include/curves/optimization/quadratic_problem.h
-include/curves/piecewise_curve.h
-include/curves/polynomial.h
-include/curves/python/python_definitions.h
-include/curves/quadratic_variable.h
-include/curves/quintic_spline.h
-include/curves/se3_curve.h
-include/curves/serialization/archive.hpp
-include/curves/serialization/curves.hpp
-include/curves/serialization/eigen-matrix.hpp
-include/curves/serialization/registeration.hpp
-include/curves/so3_linear.h
-include/curves/warning.hh
-lib/cmake/curves/curvesConfig.cmake
-lib/cmake/curves/curvesConfigVersion.cmake
-lib/cmake/curves/curvesTargets.cmake
-lib/pkgconfig/curves.pc
diff --git a/curves/depend.mk b/curves/depend.mk
deleted file mode 100644
index 2f070811342219471c47a79f743ae93656c3cd8a..0000000000000000000000000000000000000000
--- a/curves/depend.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# robotpkg depend.mk for: wip/curves
-# Created: Guilhem Saurel on Wed, 15 Jan 2020
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-CURVES_DEPEND_MK:= ${CURVES_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= curves
-endif
-
-ifeq (+,$(CURVES_DEPEND_MK)) # --------------------------------------
-
-PREFER.curves?= robotpkg
-
-DEPEND_USE+= curves
-
-DEPEND_ABI.curves?= curves>=0.3.3
-DEPEND_DIR.curves?= ../../wip/curves
-
-SYSTEM_SEARCH.curves=\
- 'include/curves/config.hh:/CURVES_VERSION /s/[^0-9.]//gp' \
- 'lib/cmake/curves/curvesConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
- 'lib/pkgconfig/curves.pc:/Version/s/[^0-9.]//gp'
-
-endif # CURVES_DEPEND_MK --------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/curves/distinfo b/curves/distinfo
deleted file mode 100644
index 37519f3e15adcc407d69e517c09992cf5fd7b598..0000000000000000000000000000000000000000
--- a/curves/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (curves-0.4.1.tar.gz) = ad2a8c8aad7816b96bcf528bdaa02850085fda8c
-RMD160 (curves-0.4.1.tar.gz) = 840b6e2fd1275027dd9ae488ff7b96681d814911
-Size (curves-0.4.1.tar.gz) = 1633107 bytes
diff --git a/multicontact-api/Makefile b/multicontact-api/Makefile
index 1158dcdca07aadfe7818c076b612da0af5f6c564..49bd4d5f4ced7816e737eb5a47630cec49834277 100644
--- a/multicontact-api/Makefile
+++ b/multicontact-api/Makefile
@@ -14,7 +14,7 @@ MAINTAINER= gepetto-soft@laas.fr
CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/curves/depend.mk
+include ../../math/curves/depend.mk
include ../../graphics/assimp/depend.mk
include ../../graphics/urdfdom/depend.mk
include ../../mapping/octomap/depend.mk
diff --git a/py-hpp-bezier-com-traj/Makefile b/py-hpp-bezier-com-traj/Makefile
index 85c50a70b4c2408e7206361bcb9d776bf6028c5b..011e265562e05e234b442553687d1187a0aef535 100644
--- a/py-hpp-bezier-com-traj/Makefile
+++ b/py-hpp-bezier-com-traj/Makefile
@@ -14,7 +14,7 @@ PYTHON_NOTAG_CONFLICT= yes
include ../../meta-pkgs/hpp/Makefile.common
-include ../../wip/curves/depend.mk
+include ../../math/curves/depend.mk
include ../../wip/py-curves/depend.mk
include ../../wip/py-hpp-spline/depend.mk
diff --git a/py-hpp-rbprm/Makefile b/py-hpp-rbprm/Makefile
index e81491c732d7b15716d27293e5ef420a3859959f..0e55a1527e5a3633ccf0d908ec0a1a3bbe576567 100644
--- a/py-hpp-rbprm/Makefile
+++ b/py-hpp-rbprm/Makefile
@@ -15,7 +15,7 @@ include ../../meta-pkgs/hpp/Makefile.common
include ../../wip/py-hpp-rbprm-robot-data/depend.mk
include ../../wip/py-hpp-environments/depend.mk
-include ../../wip/curves/depend.mk
+include ../../math/curves/depend.mk
include ../../wip/py-curves/depend.mk
include ../../path/hpp-core/depend.mk
diff --git a/py-multicontact-api/Makefile b/py-multicontact-api/Makefile
index 2279bf527406e9be8350973bfe126e4fc2c8bd84..c9c2f427a75ab7bf21691a00c4bbe24449b693df 100644
--- a/py-multicontact-api/Makefile
+++ b/py-multicontact-api/Makefile
@@ -15,7 +15,7 @@ USE_PYTHON_ONLY+= yes
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../wip/${NAME}/depend.mk
-include ../../wip/curves/depend.mk
+include ../../math/curves/depend.mk
include ../../wip/py-curves/depend.mk
include ../../math/py-eigenpy/depend.mk
include ../../math/py-pinocchio/depend.mk