diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index 279330eef9893535b78cf139ddb9af15c9ba3cfd..6da05b9d76a57ed1cd822b99c0bb68c123bf8960 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-talos-balance
-VERSION=		2.0.1
+VERSION=		2.0.2
 
 CATEGORIES=		wip
 COMMENT=		Balance for TALOS humanoid robot (python bindings)
@@ -16,7 +16,6 @@ include ../../devel/jrl-cmakemodules/Makefile.common
 include ../../math/eiquadprog/depend.mk
 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
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
index a9cd74e204022cad69e8f783dd36e23c1e9bc9bd..d0b0eb2415d58d9c6b882d8e970eb0f04f06316f 100644
--- a/py-sot-talos-balance/distinfo
+++ b/py-sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-2.0.1.tar.gz) = e562307b243f39cdac46d7b76da47db2c705fe1c
-RMD160 (sot-talos-balance-2.0.1.tar.gz) = f89bc7768405a8f94deb7addfb727f344596e959
-Size (sot-talos-balance-2.0.1.tar.gz) = 36162841 bytes
+SHA1 (sot-talos-balance-2.0.2.tar.gz) = 861711f9cb2f5dbef31dc218b2923d1c2d37d9db
+RMD160 (sot-talos-balance-2.0.2.tar.gz) = 5204a5ec3ffa8ba4d87dd4463c444b22c62b7320
+Size (sot-talos-balance-2.0.2.tar.gz) = 36165445 bytes
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 801c274e35767a2f57e52be214879da93fda0ae8..59e579539dafcbfe5ce3ccf58f73b226a8b087c6 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-talos-balance
-VERSION=		2.0.1
+VERSION=		2.0.2
 
 CATEGORIES=		wip
 COMMENT=		Balance for TALOS humanoid robot
@@ -16,7 +16,6 @@ include ../../devel/jrl-cmakemodules/Makefile.common
 include ../../math/eiquadprog/depend.mk
 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
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index a9cd74e204022cad69e8f783dd36e23c1e9bc9bd..d0b0eb2415d58d9c6b882d8e970eb0f04f06316f 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-talos-balance-2.0.1.tar.gz) = e562307b243f39cdac46d7b76da47db2c705fe1c
-RMD160 (sot-talos-balance-2.0.1.tar.gz) = f89bc7768405a8f94deb7addfb727f344596e959
-Size (sot-talos-balance-2.0.1.tar.gz) = 36162841 bytes
+SHA1 (sot-talos-balance-2.0.2.tar.gz) = 861711f9cb2f5dbef31dc218b2923d1c2d37d9db
+RMD160 (sot-talos-balance-2.0.2.tar.gz) = 5204a5ec3ffa8ba4d87dd4463c444b22c62b7320
+Size (sot-talos-balance-2.0.2.tar.gz) = 36165445 bytes