diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8dcb297..3b3cb9d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,7 +77,6 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_6")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_7")
-list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV3")
 
 # Note: these models don't need further configuration apart from
 # model version in model.config. Only one configuration is generated for
@@ -148,7 +147,7 @@ endforeach()
 
 # Deal with manually generated models
 set(GAZEBO_SUPPORTED_MODELS "")
-list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip" "iCubGazeboV3_visuomanip")
+list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip")
 
 SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots)
 foreach(ROBOT_NAME ${ROBOTS_NAMES})
diff --git a/README.md b/README.md
index 9d913ea..c327f1e 100644
--- a/README.md
+++ b/README.md
@@ -35,8 +35,6 @@ The models contained in `icub-models` are listed in the following table. Most mo
 | `iCubGazeboV2_5_KIT_007`| `package://iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf` | v2.5 + [KIT_007](https://icub-tech-iit.github.io/documentation/upgrade_kits/ankle_for_stairs/support/) with backpack, joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). |
 | `iCubGazeboV2_6`     | `package://iCub/robots/iCubGazeboV2_6/model.urdf` | v2.6 with  joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). |
 | `iCubGazeboV2_7`     | `package://iCub/robots/iCubGazeboV2_7/model.urdf` | v2.7 with  joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). |
-| `iCubGazeboV3`       | `package://iCub/robots/iCubGazeboV3/model.urdf` | v3 with  joint damping, and inertias of some links increased in a non realistic way to run smoothly in Gazebo Classic (ODE). |
-| `iCubGazeboV3_visuomanip` | `package://iCub/robots/iCubGazeboV3_visuomanip/model.urdf`  | v3 with hands and eyes |
 | `iCubGenova02`       | `package://iCub/robots/iCubGenova02/model.urdf` | v2.5.5 + [KIT_007](https://icub-tech-iit.github.io/documentation/upgrade_kits/ankle_for_stairs/support/) with backpack           |
 | `iCubGenova03`       | `package://iCub/robots/iCubGenova03/model.urdf`           | v2 with legs v1 and feet v2.5   |
 | `iCubGenova11`       | `package://iCub/robots/iCubGenova11/model.urdf`           | v2.7   |