diff --git a/py-sot-torque-control/Makefile b/py-sot-torque-control/Makefile
index 1f8eba44417e5768dfcd93c7e7d5b10ccafffa24..a02ee2e8a3dc8e86c4285010830b0e845d739bda 100644
--- a/py-sot-torque-control/Makefile
+++ b/py-sot-torque-control/Makefile
@@ -4,7 +4,7 @@
ORG= stack-of-tasks
NAME= sot-torque-control
-VERSION= 1.6.0
+VERSION= 1.6.1
CATEGORIES= wip
COMMENT= Torque control for humanoids (python bindings)
@@ -17,7 +17,6 @@ include ../../${CATEGORIES}/${NAME}/depend.mk
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
-include ../../graphics/simple-humanoid-description/depend.mk
include ../../graphics/urdfdom/depend.mk
include ../../mapping/octomap/depend.mk
include ../../math/eigen3/depend.mk
@@ -25,7 +24,8 @@ include ../../math/pinocchio/depend.mk
include ../../math/py-pinocchio/depend.mk
include ../../optimization/qpoases/depend.mk
include ../../path/hpp-fcl/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
+include ../../robots/example-robot-data/depend.mk
+include ../../robots/py-example-robot-data/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
@@ -35,6 +35,7 @@ include ../../optimization/py-tsid/depend.mk
include ../../wip/parametric-curves/depend.mk
include ../../wip/py-parametric-curves/depend.mk
include ../../wip/ddp-actuator-solver/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/python.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/py-sot-torque-control/distinfo b/py-sot-torque-control/distinfo
index 6c1d76bfd42d2c1932d9038eadcb749c890c61f8..5c38bed0fe27d7f0a2bd8d08ef2e2bafe6b103ad 100644
--- a/py-sot-torque-control/distinfo
+++ b/py-sot-torque-control/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-torque-control-1.6.0.tar.gz) = cf60adc01a4573ba2d055c17da97424265561684
-RMD160 (sot-torque-control-1.6.0.tar.gz) = e09857fe928615973739153fec6dac4e3fefdb32
-Size (sot-torque-control-1.6.0.tar.gz) = 2280944 bytes
+SHA1 (sot-torque-control-1.6.1.tar.gz) = 4495513af647d0856b553aba8a60d6d210f35e33
+RMD160 (sot-torque-control-1.6.1.tar.gz) = e0776d61e7fe09568c063aeb7116a4b4cb4bfba0
+Size (sot-torque-control-1.6.1.tar.gz) = 2283609 bytes
diff --git a/sot-torque-control/Makefile b/sot-torque-control/Makefile
index 32a32cf8abfb4dd8ea3c3f00eae56bc722903405..19281f2d3bd8b7a82214d2339c26476188fddd5e 100644
--- a/sot-torque-control/Makefile
+++ b/sot-torque-control/Makefile
@@ -4,7 +4,7 @@
ORG= stack-of-tasks
NAME= sot-torque-control
-VERSION= 1.6.0
+VERSION= 1.6.1
CATEGORIES= wip
COMMENT= Torque control for humanoids
@@ -15,13 +15,13 @@ CMAKE_ARGS+= -DqpOASES_PREFIX=${PREFIX.qpoases}
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
-include ../../graphics/simple-humanoid-description/depend.mk
include ../../graphics/urdfdom/depend.mk
include ../../mapping/octomap/depend.mk
include ../../math/eigen3/depend.mk
include ../../math/pinocchio/depend.mk
include ../../optimization/qpoases/depend.mk
include ../../path/hpp-fcl/depend.mk
+include ../../robots/example-robot-data/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
include ../../optimization/tsid/depend.mk
diff --git a/sot-torque-control/distinfo b/sot-torque-control/distinfo
index 6c1d76bfd42d2c1932d9038eadcb749c890c61f8..5c38bed0fe27d7f0a2bd8d08ef2e2bafe6b103ad 100644
--- a/sot-torque-control/distinfo
+++ b/sot-torque-control/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-torque-control-1.6.0.tar.gz) = cf60adc01a4573ba2d055c17da97424265561684
-RMD160 (sot-torque-control-1.6.0.tar.gz) = e09857fe928615973739153fec6dac4e3fefdb32
-Size (sot-torque-control-1.6.0.tar.gz) = 2280944 bytes
+SHA1 (sot-torque-control-1.6.1.tar.gz) = 4495513af647d0856b553aba8a60d6d210f35e33
+RMD160 (sot-torque-control-1.6.1.tar.gz) = e0776d61e7fe09568c063aeb7116a4b4cb4bfba0
+Size (sot-torque-control-1.6.1.tar.gz) = 2283609 bytes