diff --git a/python/ros/ros-kineromeo.py b/python/ros/ros-kineromeo.py
deleted file mode 100644
index 401ca0fc76cadd545df7172ba7439b795a12585b..0000000000000000000000000000000000000000
--- a/python/ros/ros-kineromeo.py
+++ /dev/null
@@ -1,99 +0,0 @@
-# -*- coding: utf-8 -*-
-# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
-#
-# This file is part of dynamic-graph.
-# dynamic-graph is free software: you can redistribute it and/or
-# modify it under the terms of the GNU Lesser General Public License
-# as published by the Free Software Foundation, either version 3 of
-# the License, or (at your option) any later version.
-#
-# dynamic-graph is distributed in the hope that it will be useful, but
-# WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-# General Lesser Public License for more details.  You should have
-# received a copy of the GNU Lesser General Public License along with
-# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple,rotate, matrixToRPY
-from dynamic_graph.sot.core.meta_tasks_kine import *
-from numpy import *
-
-# Create the robot romeo.
-from dynamic_graph.sot.romeo.romeo import *
-robot = Robot('romeo', device=RobotSimu('romeo'))
-
-plug(robot.device.state, robot.dynamic.position)
-
-# Binds with ROS. assert that roscore is running.
-from dynamic_graph.ros import *
-ros = Ros(robot)
-
-# Create a simple kinematic solver.
-from dynamic_graph.sot.dynamics.solver import Solver
-solver = Solver(robot)
-
-# Alternate visualization tool
-from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer
-addRobotViewer(robot.device,small=True,small_extra=24,verbose=False)
-
-#-------------------------------------------------------------------------------
-#----- MAIN LOOP ---------------------------------------------------------------
-#-------------------------------------------------------------------------------
-# define the macro allowing to run the simulation.
-from dynamic_graph.sot.core.utils.thread_interruptible_loop import loopInThread,loopShortcuts
-dt=5e-3
-@loopInThread
-def inc():
-    robot.device.increment(dt)
-
-runner=inc()
-[go,stop,next,n]=loopShortcuts(runner)
-
-# ---- TASKS -------------------------------------------------------------------
-# ---- TASKS -------------------------------------------------------------------
-# ---- TASKS -------------------------------------------------------------------
-
-# ---- TASK GRIP ---
-# Defines a task for the right hand.
-taskRH=MetaTaskKine6d('rh',robot.dynamic,'right-wrist','right-wrist')
-#  Move the operational point.
-handMgrip=eye(4); handMgrip[0:3,3] = (0.1,0,0)
-taskRH.opmodif = matrixToTuple(handMgrip)
-taskRH.feature.frame('desired')
-# robot.tasks['right-wrist'].add(taskRH.feature.name)
-
-# --- STATIC COM (if not walking)
-robot.createCenterOfMassFeatureAndTask(
-    'featureCom', 'featureComDef', 'comTask',
-    selec = '011',
-    gain = 10)
-
-
-# --- CONTACTS
-# define contactLF and contactRF
-for name,joint in [ ['LF','left-ankle'], ['RF','right-ankle' ] ]:
-    contact = MetaTaskKine6d('contact'+name,robot.dynamic,name,joint)
-    contact.feature.frame('desired')
-    contact.gain.setConstant(10)
-    contact.keep()
-    locals()['contact'+name] = contact
-
-# --- RUN ----------------------------------------------------------------------
-
-# Move the desired position of the right hand
-# 1st param: task concerned 
-# 2st param: objective
-# 3rd param: selected parameters
-# 4th param: gain
-target=(0.5,-0.2,0.8)
-gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))
-
-# Fill the stack with some tasks.
-solver.push(contactRF.task)
-solver.push(contactLF.task)
-solver.push(robot.comTask)
-solver.push(taskRH.task)
-
-# type inc to run one iteration, or go to run indefinitely.
-# go()
-
diff --git a/python/ros/ros-walkromeo.py b/python/ros/ros-walkromeo.py
deleted file mode 100644
index 4694294bc445f2bc1e89561614d8a6cd24c49caa..0000000000000000000000000000000000000000
--- a/python/ros/ros-walkromeo.py
+++ /dev/null
@@ -1,153 +0,0 @@
-# ______________________________________________________________________________
-# ******************************************************************************
-# A simple Herdt walking pattern generator for Romeo.
-# ______________________________________________________________________________
-# ******************************************************************************
-
-from dynamic_graph import plug
-from dynamic_graph.sot.core import *
-from dynamic_graph.sot.dynamics import *
-from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple,rotate, matrixToRPY
-from dynamic_graph.sot.core.meta_tasks_kine import *
-from dynamic_graph.sot.core.utils.thread_interruptible_loop import loopInThread,loopShortcuts
-from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer,VisualPinger,updateComDisplay
-
-from numpy import *
-def totuple( a ):
-    al=a.tolist()
-    res=[]
-    for i in range(a.shape[0]):
-        res.append( tuple(al[i]) )
-    return tuple(res)
-
-# Create the robot.
-from dynamic_graph.sot.romeo.romeo import *
-robot = Robot('romeo', device=RobotSimu('romeo'))
-plug(robot.device.state, robot.dynamic.position)
-
-# Binds with ros, export joint_state.
-from dynamic_graph.ros import *
-ros = Ros(robot)
-
-# Create a solver.
-from dynamic_graph.sot.dynamics.solver import Solver
-solver = Solver(robot)
-
-# Alternate visualization tool
-addRobotViewer(robot.device,small=True,small_extra=24,verbose=False)
-
-
-#-------------------------------------------------------------------------------
-#----- MAIN LOOP ---------------------------------------------------------------
-#-------------------------------------------------------------------------------
-
-dt=5e-3
-
-@loopInThread
-def inc():
-    robot.device.increment(dt)
-    updateComDisplay(robot.device,robot.dynamic.com)
-
-runner=inc()
-[go,stop,next,n]=loopShortcuts(runner)
-
-# --- PG ---------------------------------------------------------
-from dynamic_graph.sot.pattern_generator.meta_pg import MetaPG
-pg = MetaPG(robot.dynamic)
-pg.plugZmp(robot.device)
-
-# ---- TASKS -------------------------------------------------------------------
-# ---- WAIST TASK ---
-#  This task fix the motion of the waist around the z axis, the roll and the pitch
-taskWaist=MetaTask6d('waist',robot.dynamic,'waist','waist')
-pg.plugWaistTask(taskWaist)
-taskWaist.task.controlGain.value = 5
-taskWaist.feature.selec.value = '011100'
-
-# --- TASK COM ---
-# the x,y coords of the centor of mass are given by the pattern generator
-taskCom = MetaTaskKineCom(robot.dynamic,"compd")
-pg.plugComTask(taskCom)
-taskCom.feature.selec.value = '011'
-
-# --- TASK FEET
-# The feet are constrained by two 6dofs tasks.
-taskRF=MetaTask6d('rf',robot.dynamic,'rf','right-ankle')
-plug(pg.pg.rightfootref,taskRF.featureDes.position)
-taskRF.task.controlGain.value = 40
-
-taskLF=MetaTask6d('lf',robot.dynamic,'lf','left-ankle')
-plug(pg.pg.leftfootref,taskLF.featureDes.position)
-taskLF.task.controlGain.value = 40
-
-############################################################################
-# Complete the task definition here.
-# ---- HEAD ORIENTATION ---
-#  set the orientation of the gaze (head) to be the same as the one of the foot.
-# Define a metaTask for a 6d task controlling the waistOrientation.
-# 1\ Define a MetaTask6d taskHead, constraining the head, attached to the gaze link
-taskHead=MetaTask6d('head',robot.dynamic,'gaze','gaze')
-
-# 2\ Link the orientation of the right foot to the desired position of the head.
-plug(taskRF.featureDes.position, taskHead.featureDes.position)
-
-# 3\ Only constraint the rotation of the head.
-taskHead.feature.selec.value = '111000'
-
-# 4\ set the gain
-taskHead.task.controlGain.value = 5
-
-
-# ---- ARMS ---
-# set a default position for the joints arms
-# 1\ Define two features (entity FeatureGeneric) corresponding to the desired potion.
-#    the desired position corresponds to the initial configuration of the robot
-#    romeo: initialConfig['romeo']
-#    * the reference position is the position given by the entity dyn,
-#    * the jacobian is the identity: ... = totuple( identity(robot.dimension) )
-#    * the joint controlled are those of the two arms [12,25] sur 39.
-featurePosition = FeatureGeneric('featurePosition')
-featurePositionDes = FeatureGeneric('featurePositionDes')
-featurePosition.setReference('featurePositionDes')
-plug(robot.dynamic.position,featurePosition.errorIN)
-featurePositionDes.errorIN.value = robot.halfSitting
-featurePosition.jacobianIN.value = totuple( identity(robot.dimension) )
-
-# 2\ Define the task. Associate to the task the position feature.
-taskPosition = Task('taskPosition')
-taskPosition.add('featurePosition')
-
-# 3\ (Optional) attach an adaptive gain (entity GainAdaptive) to the task created.
-gainPosition = GainAdaptive('gainPosition')
-gainPosition.set(0.1,0.1,125e3)
-gainPosition.gain.value = 5
-plug(taskPosition.error,gainPosition.error)
-plug(gainPosition.gain,taskPosition.controlGain)
-featurePosition.selec.value = '000000000000001111111111111100000000000'
-
-
-############################################################################
-
-
-# --- RUN ----------------------------------------------------------------------
-# --- RUN ----------------------------------------------------------------------
-# --- RUN ----------------------------------------------------------------------
-solver.push(taskWaist.task)
-solver.push(taskRF.task)
-solver.push(taskLF.task)
-solver.push(taskCom.task)
-# Stun the upper part of the body.
-sot.push(taskHead.task.name)		# constraint the head orientation: look straight ahead
-sot.push('taskPosition')			# stun the arms.
-
-
-# --- HERDT PG AND START -------------------------------------------------------
-# Set the algorithm generating the ZMP reference trajectory to Herdt's one.
-pg.startHerdt(False)
-
-print('You can now modifiy the speed of the robot by setting pg.pg.velocitydes')
-print('example : pg.pg.velocitydes.value =(0.1,0.0,0.0)\n')
-
-go()
-
-