diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index 02b8a87bc2d89d30370c5525f544996f2e4cb5bf..a2ea7bcf794a6f88b54d94c82f306325f615ddd8 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -4,8 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-talos-balance
-VERSION=		1.9.0
-PKGREVISION=		1
+VERSION=		1.9.1
 
 CATEGORIES=		wip
 COMMENT=		Balance for TALOS humanoid robot (python bindings)
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
index da5c25c069cff3e1d0d4abcc8321bcabbe86af8b..eabe203b7aaf83ecadf95c501d8275c94d5aa4b7 100644
--- a/py-sot-talos-balance/distinfo
+++ b/py-sot-talos-balance/distinfo
@@ -1,4 +1,3 @@
-SHA1 (sot-talos-balance-1.9.0.tar.gz) = 2399bf0c0c658df4f9b0e42ffa56075d50074082
-RMD160 (sot-talos-balance-1.9.0.tar.gz) = 035f0229e495d2c5d7ef8330f1ed7306515a89f4
-Size (sot-talos-balance-1.9.0.tar.gz) = 32951496 bytes
-SHA1 (patch-aa) = 3569334b17dd9a9f0f4cd618ba033200de2f61e0
+SHA1 (sot-talos-balance-1.9.1.tar.gz) = 1626d26abb9fc3d2bd8649537201b866e675b933
+RMD160 (sot-talos-balance-1.9.1.tar.gz) = 136ffc99deeb551df993d70b6c5fd6167ab26e12
+Size (sot-talos-balance-1.9.1.tar.gz) = 32951788 bytes
diff --git a/py-sot-talos-balance/patches/patch-aa b/py-sot-talos-balance/patches/patch-aa
deleted file mode 100644
index 4ab9a6271e5bc08d33f0f415eb2fe38ef3c1b99d..0000000000000000000000000000000000000000
--- a/py-sot-talos-balance/patches/patch-aa
+++ /dev/null
@@ -1,48 +0,0 @@
-From 61d5bd1d7adcd5208f924d0cfe3d308082b90bb0 Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Tue, 26 May 2020 14:56:08 +0200
-Subject: [PATCH] fix compatibility with pinocchio v2.4.5
-
-ref https://github.com/stack-of-tasks/pinocchio/pull/1220
----
- include/sot/talos_balance/robot/robot-wrapper.hh | 4 ++--
- src/robot/robot-wrapper.cpp                      | 4 ++--
- 2 files changed, 4 insertions(+), 4 deletions(-)
-
-diff --git a/include/sot/talos_balance/robot/robot-wrapper.hh b/include/sot/talos_balance/robot/robot-wrapper.hh
-index c764595..1448020 100644
---- include/sot/talos_balance/robot/robot-wrapper.hh
-+++ include/sot/talos_balance/robot/robot-wrapper.hh
-@@ -116,9 +116,9 @@ class RobotWrapper {
- 
-   void frameClassicAcceleration(const Data& data, const Model::FrameIndex index, Motion& frameAcceleration) const;
- 
--  void frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
-+  void frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
- 
--  void frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
-+  void frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
- 
-  protected:
-   void updateMd();
-diff --git a/src/robot/robot-wrapper.cpp b/src/robot/robot-wrapper.cpp
-index e91467e..88a0cd3 100644
---- src/robot/robot-wrapper.cpp
-+++ src/robot/robot-wrapper.cpp
-@@ -166,11 +166,11 @@ void RobotWrapper::frameClassicAcceleration(const Data& data, const Model::Frame
-   frameAcceleration.linear() += v.angular().cross(v.linear());
- }
- 
--void RobotWrapper::frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-+void RobotWrapper::frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-   return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
- }
- 
--void RobotWrapper::frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-+void RobotWrapper::frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-   return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J);
- }
- 
--- 
-2.26.2
-
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 8a6f40ea0313a7dfb16d82e62fc28a7853c169da..cb16075d646b014a41fc0deaad0ae5623f2b44a5 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -4,8 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-talos-balance
-VERSION=		1.9.0
-PKGREVISION=		1
+VERSION=		1.9.1
 
 CATEGORIES=		wip
 COMMENT=		Balance for TALOS humanoid robot
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index da5c25c069cff3e1d0d4abcc8321bcabbe86af8b..eabe203b7aaf83ecadf95c501d8275c94d5aa4b7 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,4 +1,3 @@
-SHA1 (sot-talos-balance-1.9.0.tar.gz) = 2399bf0c0c658df4f9b0e42ffa56075d50074082
-RMD160 (sot-talos-balance-1.9.0.tar.gz) = 035f0229e495d2c5d7ef8330f1ed7306515a89f4
-Size (sot-talos-balance-1.9.0.tar.gz) = 32951496 bytes
-SHA1 (patch-aa) = 3569334b17dd9a9f0f4cd618ba033200de2f61e0
+SHA1 (sot-talos-balance-1.9.1.tar.gz) = 1626d26abb9fc3d2bd8649537201b866e675b933
+RMD160 (sot-talos-balance-1.9.1.tar.gz) = 136ffc99deeb551df993d70b6c5fd6167ab26e12
+Size (sot-talos-balance-1.9.1.tar.gz) = 32951788 bytes
diff --git a/sot-talos-balance/patches/patch-aa b/sot-talos-balance/patches/patch-aa
deleted file mode 100644
index 4ab9a6271e5bc08d33f0f415eb2fe38ef3c1b99d..0000000000000000000000000000000000000000
--- a/sot-talos-balance/patches/patch-aa
+++ /dev/null
@@ -1,48 +0,0 @@
-From 61d5bd1d7adcd5208f924d0cfe3d308082b90bb0 Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Tue, 26 May 2020 14:56:08 +0200
-Subject: [PATCH] fix compatibility with pinocchio v2.4.5
-
-ref https://github.com/stack-of-tasks/pinocchio/pull/1220
----
- include/sot/talos_balance/robot/robot-wrapper.hh | 4 ++--
- src/robot/robot-wrapper.cpp                      | 4 ++--
- 2 files changed, 4 insertions(+), 4 deletions(-)
-
-diff --git a/include/sot/talos_balance/robot/robot-wrapper.hh b/include/sot/talos_balance/robot/robot-wrapper.hh
-index c764595..1448020 100644
---- include/sot/talos_balance/robot/robot-wrapper.hh
-+++ include/sot/talos_balance/robot/robot-wrapper.hh
-@@ -116,9 +116,9 @@ class RobotWrapper {
- 
-   void frameClassicAcceleration(const Data& data, const Model::FrameIndex index, Motion& frameAcceleration) const;
- 
--  void frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
-+  void frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
- 
--  void frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
-+  void frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
- 
-  protected:
-   void updateMd();
-diff --git a/src/robot/robot-wrapper.cpp b/src/robot/robot-wrapper.cpp
-index e91467e..88a0cd3 100644
---- src/robot/robot-wrapper.cpp
-+++ src/robot/robot-wrapper.cpp
-@@ -166,11 +166,11 @@ void RobotWrapper::frameClassicAcceleration(const Data& data, const Model::Frame
-   frameAcceleration.linear() += v.angular().cross(v.linear());
- }
- 
--void RobotWrapper::frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-+void RobotWrapper::frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-   return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
- }
- 
--void RobotWrapper::frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-+void RobotWrapper::frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
-   return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J);
- }
- 
--- 
-2.26.2
-