diff --git a/include/crocoddyl/multibody/contacts/impulse-3d.hpp b/include/crocoddyl/multibody/contacts/impulse-3d.hpp
deleted file mode 100644
index 6b4534f6ff5c61369921748fb5ae99a8958b139d..0000000000000000000000000000000000000000
--- a/include/crocoddyl/multibody/contacts/impulse-3d.hpp
+++ /dev/null
@@ -1,14 +0,0 @@
-///////////////////////////////////////////////////////////////////////////////
-// BSD 3-Clause License
-//
-// Copyright (C) 2018-2019, LAAS-CNRS
-// Copyright note valid unless otherwise stated in individual files.
-// All rights reserved.
-///////////////////////////////////////////////////////////////////////////////
-
-#ifndef CROCODDYL_MULTIBODY_CONTACTS_IMPULSE_3D_HPP_
-#define CROCODDYL_MULTIBODY_CONTACTS_IMPULSE_3D_HPP_
-
-// TODO: ImpulseModel3D ImpulseData3D
-
-#endif  // CROCODDYL_MULTIBODY_CONTACTS_IMPULSE_3D_HPP_
diff --git a/include/crocoddyl/multibody/contacts/impulse-6d.hpp b/include/crocoddyl/multibody/contacts/impulse-6d.hpp
deleted file mode 100644
index 1ea509824deee6e2ccfc2ce8291e6443e3eb4ba4..0000000000000000000000000000000000000000
--- a/include/crocoddyl/multibody/contacts/impulse-6d.hpp
+++ /dev/null
@@ -1,14 +0,0 @@
-///////////////////////////////////////////////////////////////////////////////
-// BSD 3-Clause License
-//
-// Copyright (C) 2018-2019, LAAS-CNRS
-// Copyright note valid unless otherwise stated in individual files.
-// All rights reserved.
-///////////////////////////////////////////////////////////////////////////////
-
-#ifndef CROCODDYL_MULTIBODY_CONTACTS_IMPULSE_6D_HPP_
-#define CROCODDYL_MULTIBODY_CONTACTS_IMPULSE_6D_HPP_
-
-// TODO: ImpulseModel6D ImpulseData6D
-
-#endif  // CROCODDYL_MULTIBODY_CONTACTS_IMPULSE_6D_HPP_
diff --git a/include/crocoddyl/multibody/contacts/multiple-impulses.hpp b/include/crocoddyl/multibody/contacts/multiple-impulses.hpp
deleted file mode 100644
index 2adff5eae22d19f7d0ca659333f13301b4234876..0000000000000000000000000000000000000000
--- a/include/crocoddyl/multibody/contacts/multiple-impulses.hpp
+++ /dev/null
@@ -1,14 +0,0 @@
-///////////////////////////////////////////////////////////////////////////////
-// BSD 3-Clause License
-//
-// Copyright (C) 2018-2019, LAAS-CNRS
-// Copyright note valid unless otherwise stated in individual files.
-// All rights reserved.
-///////////////////////////////////////////////////////////////////////////////
-
-#ifndef CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_IMPULSES_HPP_
-#define CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_IMPULSES_HPP_
-
-// TODO: ImpulseModelMultiple ImpulseDataMultiple
-
-#endif  // CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_IMPULSES_HPP_