diff --git a/Makefile b/Makefile
index 38662816facce1fda009ea14364d3185dd454868..92ea1e936085720b72b57bbf465a9daa8038040e 100644
--- a/Makefile
+++ b/Makefile
@@ -110,7 +110,6 @@ SUBDIR+=	py-talos-dev
 SUBDIR+=	py-talos-rbprm
 SUBDIR+=	py-talos-torque-control
 SUBDIR+=	py-tiago-tutorials
-SUBDIR+=	py-tsid
 SUBDIR+=	pyrene-motions
 SUBDIR+=	roralink
 SUBDIR+=	ros-aicp-mapping
diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index ae32b38f403e8acd55fa5b5b380415a1aaf87fed..d6f242d6204b29f1970f5945b6c8770228a4f2f9 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -29,7 +29,7 @@ include ../../wip/py-dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
 include ../../wip/py-sot-core-v3/depend.mk
 include ../../optimization/tsid/depend.mk
-include ../../wip/py-tsid/depend.mk
+include ../../optimization/py-tsid/depend.mk
 include ../../wip/parametric-curves/depend.mk
 include ../../wip/py-parametric-curves/depend.mk
 include ../../wip/ddp-actuator-solver/depend.mk
diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index a715486278abc5de99b4a297dc8c803a8db14e8b..b223a5fe513854a13258703a65054273a8878c2d 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -31,7 +31,7 @@ include ../../wip/py-dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
 include ../../wip/py-sot-core-v3/depend.mk
 include ../../optimization/tsid/depend.mk
-include ../../wip/py-tsid/depend.mk
+include ../../optimization/py-tsid/depend.mk
 include ../../wip/parametric-curves/depend.mk
 include ../../wip/py-parametric-curves/depend.mk
 include ../../wip/ddp-actuator-solver/depend.mk
diff --git a/py-talos-torque-control/Makefile b/py-talos-torque-control/Makefile
index ec732944ba8a758cf14c7ba1f55101edc3247994..d56a3a5f266ef7db581ee91aefe9aba427098221 100644
--- a/py-talos-torque-control/Makefile
+++ b/py-talos-torque-control/Makefile
@@ -32,7 +32,7 @@ include ../../wip/py-dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
 include ../../wip/py-sot-core-v3/depend.mk
 include ../../optimization/tsid/depend.mk
-include ../../wip/py-tsid/depend.mk
+include ../../optimization/py-tsid/depend.mk
 include ../../wip/parametric-curves/depend.mk
 include ../../wip/py-parametric-curves/depend.mk
 include ../../wip/ddp-actuator-solver/depend.mk
diff --git a/py-tsid/DESCR b/py-tsid/DESCR
deleted file mode 100644
index 6e0c9e978eb22e9f1b1b62ab1969e6b405bceb0c..0000000000000000000000000000000000000000
--- a/py-tsid/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-This package provides an efficient library to compute rigid multibody dynamics. (python bindings)
diff --git a/py-tsid/Makefile b/py-tsid/Makefile
deleted file mode 100644
index 02673265de579ecc14da19725a52448e283cf414..0000000000000000000000000000000000000000
--- a/py-tsid/Makefile
+++ /dev/null
@@ -1,39 +0,0 @@
-# robotpkg Makefile for:	wip/py-tsid
-# Created:			Guilhem Saurel on Mon, 4 Mar 2019
-#
-
-ORG=			stack-of-tasks
-NAME=			tsid
-VERSION=		1.2.3
-
-CATEGORIES=		wip
-COMMENT=		Efficient Inverse Dynamics based on Pinocchio (python bindings)
-
-USE_BOOST_LIBS=		unit_test_framework
-USE_PYTHON_ONLY=	yes
-
-# this does not support multiple parallel python version
-CONFLICTS+=		py[0-9][0-9]-${NAME}-[0-9]*
-
-include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../${CATEGORIES}/${NAME}/depend.mk
-
-include ../../wip/eiquadprog/depend.mk
-
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../graphics/urdfdom/depend.mk
-include ../../math/eigen3/depend.mk
-include ../../math/py-eigenpy/depend.mk
-include ../../math/pinocchio/depend.mk
-include ../../math/py-pinocchio/depend.mk
-include ../../mapping/octomap/depend.mk
-include ../../path/hpp-fcl/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/doxygen.mk
-include ../../mk/sysdep/python.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++11.mk
-
-include ../../mk/robotpkg.mk
diff --git a/py-tsid/PLIST b/py-tsid/PLIST
deleted file mode 100644
index 085671c10fea70e7da6e6e7e79fbb2abbf1710a3..0000000000000000000000000000000000000000
--- a/py-tsid/PLIST
+++ /dev/null
@@ -1,3 +0,0 @@
-@comment Mon Mar 23 15:44:55 CET 2020
-${PYTHON_SITELIB}/tsid/__init__.py
-${PYTHON_SITELIB}/tsid/libtsid_pywrap.so
diff --git a/py-tsid/depend.mk b/py-tsid/depend.mk
deleted file mode 100644
index 6d83e003cb381b0582857e0ad56a3f70217c2b1c..0000000000000000000000000000000000000000
--- a/py-tsid/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for:	wip/py-tsid
-# Created:			Guilhem Saurel on Mon, 4 Mar 2019
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-PY_TSID_DEPEND_MK:=	${PY_TSID_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		py-tsid
-endif
-
-ifeq (+,$(PY_TSID_DEPEND_MK)) # ------------------------------------------
-
-PREFER.py-tsid?=	robotpkg
-
-SYSTEM_SEARCH.py-tsid=\
-	'${PYTHON_SYSLIBSEARCH}/tsid/__init__.py'
-
-DEPEND_USE+=		py-tsid
-
-DEPEND_ABI.py-tsid?=	${PKGTAG.python-}tsid>=1.0.0
-DEPEND_DIR.py-tsid?=	../../wip/py-tsid
-
-endif # PY_TSID_DEPEND_MK ------------------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/py-tsid/distinfo b/py-tsid/distinfo
deleted file mode 100644
index 67944847aeb71ce55cf4a78933785ba1542e9ce2..0000000000000000000000000000000000000000
--- a/py-tsid/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (tsid-1.2.3.tar.gz) = 4f9e5e4871a021c104abc4eebad8fc6c229d4308
-RMD160 (tsid-1.2.3.tar.gz) = d6ef7f2edb1603690560a3dde268736fbf197fc6
-Size (tsid-1.2.3.tar.gz) = 9414383 bytes