diff --git a/Makefile b/Makefile
index a755ece465ffe2f83e656b69464bbf123cae9c01..9babcb60561d58d27952f62f68810c0b68c32e54 100644
--- a/Makefile
+++ b/Makefile
@@ -140,7 +140,6 @@ SUBDIR+= ros-warehouse-ros
SUBDIR+= rqt-dynamic-graph
SUBDIR+= rviz-plugin-covariance
SUBDIR+= simple-grasping-action
-SUBDIR+= simple-humanoid-description
SUBDIR+= sot-core-v3
SUBDIR+= sot-dynamic-pinocchio-v3
SUBDIR+= sot-dyninv
diff --git a/jrl-walkgen-v3/Makefile b/jrl-walkgen-v3/Makefile
index f34c8e09dcd4bbd72140b563e1eb87ffa6d7e067..99f588de067ddf1f6bda2351eabe5c78106acfb9 100644
--- a/jrl-walkgen-v3/Makefile
+++ b/jrl-walkgen-v3/Makefile
@@ -26,14 +26,14 @@ DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
DEPEND_ABI.pinocchio= pinocchio<2
-include ../../mk/sysdep/cmake.mk
-include ../../math/pinocchio/depend.mk
-include ../../wip/eigen-quadprog/depend.mk
-include ../../wip/simple-humanoid-description/depend.mk
+include ../../graphics/simple-humanoid-description/depend.mk
include ../../interfaces/jrl-mal/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
include ../../mk/sysdep/graphviz.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../wip/eigen-quadprog/depend.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/language/fortran.mk
diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index 041881ffa8c999206521717a390964c237edcb2c..c6061ba64611b45bace8a3d8d3f4f9df8ff31d6a 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -24,12 +24,14 @@ include ../../${CATEGORIES}/${NAME}/depend.mk
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
+include ../../graphics/simple-humanoid-description/depend.mk
include ../../graphics/urdfdom/depend.mk
+include ../../mapping/octomap/depend.mk
include ../../math/eigen3/depend.mk
include ../../math/pinocchio/depend.mk
include ../../math/py-pinocchio/depend.mk
-include ../../mapping/octomap/depend.mk
include ../../path/hpp-fcl/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
@@ -38,8 +40,6 @@ include ../../wip/tsid/depend.mk
include ../../wip/py-tsid/depend.mk
include ../../wip/parametric-curves/depend.mk
include ../../wip/py-parametric-curves/depend.mk
-include ../../wip/simple-humanoid-description/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/python.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/simple-humanoid-description/DESCR b/simple-humanoid-description/DESCR
deleted file mode 100644
index 4e6219a62655f804bf0f03c4a8f3c71384d4da58..0000000000000000000000000000000000000000
--- a/simple-humanoid-description/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Contains urdf and srd files representing a simple humanoid robot. These are the rigid body model of a simple humanoid robot
\ No newline at end of file
diff --git a/simple-humanoid-description/Makefile b/simple-humanoid-description/Makefile
deleted file mode 100644
index 66253a9855fadc66095f2b59fde02a3873b009b5..0000000000000000000000000000000000000000
--- a/simple-humanoid-description/Makefile
+++ /dev/null
@@ -1,38 +0,0 @@
-# robotpkg Makefile for: wip/simple-humanoid-description
-# Created: Rohan Budhiraja on Wed Oct 19, 2016
-#
-
-VERSION= 1.0.1
-DISTNAME= simple_humanoid_description-${VERSION}
-PKGNAME= simple-humanoid-description-${VERSION}
-
-CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=simple-humanoid-description/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}laas/simple_humanoid_description/
-
-COMMENT= Rigid body model of a simple humanoid robot.
-LICENSE= gnu-lgpl-v3
-MAINTAINER= hpp@laas.fr
-
-DYNAMIC_PLIST_DIRS+= share/doc/simple_humanoid_description
-
-# disable -Werror because of x86_64 warnings (must be fixed upstream) and
-# boost + gcc that don't cohabit well depending on their respective versions
-CMAKE_ARGS+= -DCXX_DISABLE_WERROR=yes
-
-CMAKE_ARGS+= -DCXX_DISABLE_WERROR=yes
-
-# Install in lib by default to deal with Fedora systems. TODO: use the cmake install dir variable in depend.mk
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-
-
-# man pages location
-CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
-# library location
-
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/sysdep/python.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/robotpkg.mk
diff --git a/simple-humanoid-description/PLIST b/simple-humanoid-description/PLIST
deleted file mode 100644
index 714af36a0a3c630101ecf11e596b5939077bf8a1..0000000000000000000000000000000000000000
--- a/simple-humanoid-description/PLIST
+++ /dev/null
@@ -1,9 +0,0 @@
-@comment Wed Oct 19 16:15:31 CEST 2016
-
-include/simple/humanoid/description/config.hh
-include/simple/humanoid/description/deprecated.hh
-include/simple/humanoid/description/warning.hh
-share/simple_humanoid_description/package.xml
-share/simple_humanoid_description/srdf/simple_humanoid.srdf
-share/simple_humanoid_description/urdf/simple_humanoid.urdf
-lib/pkgconfig/simple_humanoid_description.pc
diff --git a/simple-humanoid-description/depend.mk b/simple-humanoid-description/depend.mk
deleted file mode 100644
index 8088a0c3375f48dd052f3c7a30dc8bb7685e3924..0000000000000000000000000000000000000000
--- a/simple-humanoid-description/depend.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# robotpkg Makefile for: wip/
-# Created: Rohan Budhiraja on Fri, 8 Apr 2016
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-SIMPLE_HUMANOID_DESCRIPTION_DEPEND_MK:= ${SIMPLE_HUMANOID_DESCRIPTION_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= simple-humanoid-description
-endif
-
-ifeq (+,$(SIMPLE_HUMANOID_DESCRIPTION_DEPEND_MK)) # --------------------------------------
-
-PREFER.simple-humanoid-description?= robotpkg
-
-SYSTEM_SEARCH.simple-humanoid-description=\
- share/simple_humanoid_description/urdf/simple_humanoid.urdf \
- share/simple_humanoid_description/srdf/simple_humanoid.srdf \
- lib/pkgconfig/simple_humanoid_description.pc
-
-DEPEND_USE+= simple-humanoid-description
-
-DEPEND_ABI.simple-humanoid-description?= simple-humanoid-description>=1.0.1
-DEPEND_DIR.simple-humanoid-description?= ../../wip/simple-humanoid-description
-
-endif # simple_humanoid_description_DEPEND_MK --------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/simple-humanoid-description/distinfo b/simple-humanoid-description/distinfo
deleted file mode 100644
index 9fd2ce6ac98178d36fda436f33fe48a8dd9abdc0..0000000000000000000000000000000000000000
--- a/simple-humanoid-description/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (simple_humanoid_description-1.0.1.tar.gz) = 9f593608ebf30ca052c5fac576c0eec1584cf160
-RMD160 (simple_humanoid_description-1.0.1.tar.gz) = 0b7fa808a2c7ed5d1865f971a7d1653e24f48a70
-Size (simple_humanoid_description-1.0.1.tar.gz) = 802238 bytes
diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index 99129a2f5d4a245546ab54e7c09850a6c0926169..2ba8994260aaa53da8c63c71b39b7834377015c2 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -23,16 +23,16 @@ DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
+include ../../graphics/simple-humanoid-description/depend.mk
include ../../graphics/urdfdom/depend.mk
+include ../../mapping/octomap/depend.mk
include ../../math/eigen3/depend.mk
include ../../math/pinocchio/depend.mk
-include ../../mapping/octomap/depend.mk
include ../../path/hpp-fcl/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
include ../../wip/tsid/depend.mk
include ../../wip/parametric-curves/depend.mk
-include ../../wip/simple-humanoid-description/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk