diff --git a/lwr-genom/Makefile b/lwr-genom/Makefile
index fb37c40d683bc18babb72aede530d1d6292e81b6..0a8663ec94104a42be700e1eaba726bcea8911ad 100644
--- a/lwr-genom/Makefile
+++ b/lwr-genom/Makefile
@@ -2,7 +2,7 @@
# Created: Xavier Broquere on Wed, 27 Oct 2010
#
-DISTNAME= lwr-genom-2.3
+DISTNAME= lwr-genom-2.4
CATEGORIES= manipulation
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=lwr-genom/}
MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/lwr-genom
diff --git a/lwr-genom/depend.mk b/lwr-genom/depend.mk
index 66d2e040052600b65652d6aefb3fd716f3897467..bb6b69c2fb3b843d54f17efef0b3c1f632baabe4 100644
--- a/lwr-genom/depend.mk
+++ b/lwr-genom/depend.mk
@@ -33,7 +33,7 @@ SYSTEM_SEARCH.lwr-genom=\
DEPEND_USE+= lwr-genom
-DEPEND_ABI.lwr-genom?=lwr-genom>=2.3
+DEPEND_ABI.lwr-genom?=lwr-genom>=2.4
DEPEND_DIR.lwr-genom?=../../wip/lwr-genom
endif # LWR-GENOM_DEPEND_MK ----------------------------------------
diff --git a/lwr-genom/distinfo b/lwr-genom/distinfo
index 9bb25e4a464cd8445c03eb1da6a7271fc33997e1..d7376a31c5c69eb702a34073d94d8783f7858f88 100644
--- a/lwr-genom/distinfo
+++ b/lwr-genom/distinfo
@@ -1,5 +1,3 @@
-SHA1 (lwr-genom-2.3.tar.gz) = fbc40f95c47c51124842e553d39ac7efcf8e4def
-RMD160 (lwr-genom-2.3.tar.gz) = 28f1e77421c3d11982e39d807e1478234867c90b
-Size (lwr-genom-2.3.tar.gz) = 42739 bytes
-SHA1 (patch-aa) = 821b9c463521555ade40f660fd92786c988578c7
-SHA1 (patch-ab) = 01a2e886bac3d725e6d83059bed8bd47443984ca
+SHA1 (lwr-genom-2.4.tar.gz) = 34b41775b3b817b95b1091b5676f7cc3bba6ee21
+RMD160 (lwr-genom-2.4.tar.gz) = 901b0d3f733d65cb4ddebb15aed10ddc2005cfa6
+Size (lwr-genom-2.4.tar.gz) = 43333 bytes
diff --git a/lwr-genom/patches/patch-aa b/lwr-genom/patches/patch-aa
deleted file mode 100644
index 7ea04366b9451861545e1549415ebdbd2cae49ae..0000000000000000000000000000000000000000
--- a/lwr-genom/patches/patch-aa
+++ /dev/null
@@ -1,11 +0,0 @@
---- lwr.gen 2010-12-08 10:46:34.000000000 +0100
-+++ ../../lwr.gen~ 2011-01-10 13:16:53.007837818 +0100
-@@ -129,7 +129,7 @@
- LWR_NO_TOOL::"LWR Left tool", LWR_NULL_BASE::"LWR Left base",
- GEN_FALSE::"Is LWR Right used",49938::"LWR Right port", "192.168.27.5"::"LWR Right IP",
- LWR_GRIPPER::"LWR Right tool", LWR_JIDO_BASE::"LWR Right base",
-- "/local/kuka/openrobots/data/BioMove3DDemos/coldman/Jido-lwr-sahand/"::"Colman models file location",
-+ "/local/kuka/openrobots/share/move3d/assets/coldman/Jido-lwr-sahand/"::"Colman models file location",
- "world.xml"::"Colman models file name";
-
- codel_main: lwrInitMain;
diff --git a/lwr-genom/patches/patch-ab b/lwr-genom/patches/patch-ab
deleted file mode 100644
index a2029f2aad161bc4cf511ff78edb9ad7c8817973..0000000000000000000000000000000000000000
--- a/lwr-genom/patches/patch-ab
+++ /dev/null
@@ -1,19 +0,0 @@
---- codels/lwrCmdCodels.cc~ 2011-01-20 14:40:53.000000000 +0100
-+++ codels/lwrCmdCodels.cc 2011-01-21 11:13:04.897729846 +0100
-@@ -2340,11 +2340,15 @@
- if(smTraj.nbAxis != 24) {
- printf("ERROR: lwr::TrackQ traj.nbAxis (%d) != 24 \n", smTraj.nbAxis);
- return ETHER;
-+ } else {
-+ printf("INFO: lwr::TrackQ there are %d axes in the trajectory \n", smTraj.nbAxis);
- }
-
-+
- currentMotion.traj.clear();
- currentMotion.traj.importFromSM_TRAJ_STR(&smTraj);
--
-+ currentMotion.traj.computeTimeOnTraj();
-+ //currentMotion.traj.print();
- break;
- default:
- *report = S_lwr_BAD_MODE;