diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index a40b5ed31e3a2c28fbbe0ea1460b5e8736db38e2..89080ebfcaeb9857a9617f576acca9f2e8bf036b 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -16,8 +16,8 @@
 
 import numpy as np
 from dynamic_graph.sot import SE3, R3, SO3
-from dynamic_graph.sot.core import FeaturePoint6dRelative, \
-    FeatureGeneric, FeatureJointLimits, Task, Constraint, GainAdaptive, SOT
+from dynamic_graph.sot.core import FeatureGeneric, FeatureJointLimits, Task, \
+    Constraint, GainAdaptive, SOT
 from dynamic_graph.sot.dynamics import AngleEstimator
 from dynamic_graph import enableTrace, plug
 from dynamic_graph.sot.se3 import R3, SO3, SE3
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 3c2fe4b2d1d35eb516efd58414ed9f66f1d35a18..b4d1a0d66b31fbcd134f91a75adb1c31e6180979 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -22,8 +22,8 @@ from dynamic_graph.sot import SE3, R3, SO3
 from dynamic_graph.sot.core import OpPointModifier
 from dynamic_graph.sot.core.derivator import Derivator_of_Vector
 from dynamic_graph.sot.core.feature_position import FeaturePosition
-from dynamic_graph.sot.core import RobotSimu, FeaturePoint6dRelative, \
-    FeatureGeneric, FeatureJointLimits, TaskPD, Constraint, GainAdaptive, SOT
+from dynamic_graph.sot.core import RobotSimu, FeatureGeneric, \
+    FeatureJointLimits, TaskPD, Constraint, GainAdaptive, SOT
 
 from dynamic_graph.sot.dynamics.parser import Parser
 from dynamic_graph.sot.dynamics import AngleEstimator