diff --git a/py-dynamic-graph-bridge-v3/Makefile b/py-dynamic-graph-bridge-v3/Makefile
index 3a980671f65f5c8452223407bb0ce0d129234c31..a246aa48b0090ba0e71123c692aa09af60235720 100644
--- a/py-dynamic-graph-bridge-v3/Makefile
+++ b/py-dynamic-graph-bridge-v3/Makefile
@@ -36,12 +36,11 @@ include ../../math/ros-geometry2/depend.mk
 include ../../math/ros-geometry/depend.mk
 include ../../motion/dynamic-graph-bridge-msgs/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
-include ../../simulation/bullet/depend.mk
-include ../../simulation/bullet/depend.mk
 include ../../sysutils/ros-rospack/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../wip/py-dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
+include ../../mk/sysdep/bullet.mk
 include ../../mk/sysdep/cmake.mk
 include ../../mk/language/c.mk
 include ../../mk/language/c++.mk
diff --git a/roscontrol-sot/Makefile b/roscontrol-sot/Makefile
index c43d8b63b200efec66a4a6bd997c1aa411ac009e..0dcb9636b357585650a2170ce351645cb0473f4b 100644
--- a/roscontrol-sot/Makefile
+++ b/roscontrol-sot/Makefile
@@ -45,7 +45,6 @@ include ../../devel/ros-realtime-tools/depend.mk
 include ../../interfaces/ros-common-msgs/depend.mk
 include ../../interfaces/ros-control-msgs/depend.mk
 include ../../math/ros-geometry/depend.mk
-include ../../simulation/bullet/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../wip/py-dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
@@ -77,6 +76,7 @@ endif
 include ../../devel/ros-roscpp-core/depend.mk
 include ../../devel/ros-catkin/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/bullet.mk
 include ../../mk/sysdep/python.mk
 include ../../mk/language/c.mk
 include ../../mk/language/c++.mk