diff --git a/src/dynamic_graph/sot/dynamics/parser.py b/src/dynamic_graph/sot/dynamics/parser.py
index c4ada0e7e6528f9716e600c8a8944784dc5dd9f8..4825b44615d760279dc29fea2f07ae276b0def51 100755
--- a/src/dynamic_graph/sot/dynamics/parser.py
+++ b/src/dynamic_graph/sot/dynamics/parser.py
@@ -23,9 +23,6 @@ class Parser (object):
                             'ANKLEPOSINLEFTFOOTFRAMEX',
                             'ANKLEPOSINLEFTFOOTFRAMEY',
                             'ANKLEPOSINLEFTFOOTFRAMEZ',
-                            'SOLECENTERINLEFTFOOTFRAMEX',
-                            'SOLECENTERINLEFTFOOTFRAMEY',
-                            'SOLECENTERINLEFTFOOTFRAMEZ',
                             'SOLELENGTH', 'SOLEWIDTH',
                             'LEFTHANDCENTERX',
                             'LEFTHANDCENTERY',