diff --git a/py-sot-core-v3/Makefile b/py-sot-core-v3/Makefile
index 93cbcc24d2eac0137929c6afbda2b2b334cb40c1..79c2c4f3841a93d30384acc5ff1bc299330aa00d 100644
--- a/py-sot-core-v3/Makefile
+++ b/py-sot-core-v3/Makefile
@@ -4,7 +4,7 @@
ORG= stack-of-tasks
NAME= sot-core
-VERSION= 4.1.1
+VERSION= 4.2.0
DISTNAME= ${NAME}-${VERSION}
PKGNAME= ${PKGTAG.python-}${NAME}-v3-${VERSION}
diff --git a/py-sot-core-v3/distinfo b/py-sot-core-v3/distinfo
index 16c08eb53636ad9b79f6af1b37ef0f2a37c764b0..aa1a4f0c6b134f7d5df7be97ef6dc641065271a0 100644
--- a/py-sot-core-v3/distinfo
+++ b/py-sot-core-v3/distinfo
@@ -1,8 +1,5 @@
-SHA1 (sot-core-4.1.1.tar.gz) = 13df07061624f1d1609489c6f50835cf0de3c40f
-RMD160 (sot-core-4.1.1.tar.gz) = 2c43092f1f8dfa8b3b14a41fc509b75bdb0e617f
-Size (sot-core-4.1.1.tar.gz) = 1082407 bytes
-SHA1 (patch-aa) = 228fbffed1db2ddbb5926764e0d77750774fe716
+SHA1 (sot-core-4.2.0.tar.gz) = f47ccb3eda457f42f7f36a56195662abf0a69c67
+RMD160 (sot-core-4.2.0.tar.gz) = fb91f598306081e46b6c709be0ade0bd95a6502f
+Size (sot-core-4.2.0.tar.gz) = 1086520 bytes
SHA1 (patch-ab) = 65531cbbc1ea697e9f4f63f864fd811a99e955ae
-SHA1 (patch-ac) = f759462543db791b92b99428752ccc3db8a32dac
SHA1 (patch-ad) = 9731f90f2c33abec026a1d34cfaa653316b84427
-SHA1 (patch-ae) = 92c1519ebfa1af2fcc21e2ad1d492620ed1ed543
diff --git a/py-sot-core-v3/patches/patch-aa b/py-sot-core-v3/patches/patch-aa
deleted file mode 100644
index 86a859ca1eb805388cbf2fc56acf97b6cbd88878..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-aa
+++ /dev/null
@@ -1,43 +0,0 @@
-Don't install stuff already installed by wip/sot-core-v3
-
---- include/CMakeLists.txt.orig 2019-02-22 14:50:36.000000000 +0100
-+++ include/CMakeLists.txt 2019-02-22 15:39:31.631676180 +0100
-@@ -79,7 +79,3 @@
- sot/core/variadic-op.hh
- sot/core/robot-utils.hh
- )
--INSTALL(FILES ${NEWHEADERS}
-- DESTINATION include/sot/core
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
---- src/CMakeLists.txt.orig 2019-02-22 14:50:36.000000000 +0100
-+++ src/CMakeLists.txt 2019-02-22 15:40:46.276450788 +0100
-@@ -169,8 +169,6 @@
-
- TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-
--INSTALL(TARGETS ${LIBRARY_NAME}
-- DESTINATION ${CMAKE_INSTALL_LIBDIR})
-
- #Plugins compilation, link, and installation
- #Compiles a plugin. The plugin library is ${LIBRARY_NAME}
-@@ -220,9 +218,6 @@
- sot-core-${PYTHON_LIBRARY_NAME}-wrap
- )
- ENDIF(BUILD_PYTHON_INTERFACE)
-- # Install plugins
-- INSTALL(TARGETS ${LIBRARY_NAME}
-- DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
- ENDFOREACH(plugin)
-
- IF(BUILD_PYTHON_INTERFACE)
---- CMakeLists.txt.orig 2019-03-01 11:59:59.000000000 +0100
-+++ CMakeLists.txt 2019-03-04 16:49:51.498661218 +0100
-@@ -64,7 +64,6 @@
- ADD_SUBDIRECTORY(include)
- ADD_SUBDIRECTORY(src)
- ADD_SUBDIRECTORY(unitTesting)
--ADD_SUBDIRECTORY(doc)
-
- # **********************************
- # Robot_utils_sot_py PYTHON module *
diff --git a/py-sot-core-v3/patches/patch-ab b/py-sot-core-v3/patches/patch-ab
deleted file mode 100644
index 72ef67639f1b9e60ce3968c5a25c71c6c48a2607..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-ab
+++ /dev/null
@@ -1,14 +0,0 @@
-Don't install main .pc
-
---- cmake/base.cmake~ 2017-10-26 15:25:19.000000000 +0200
-+++ cmake/base.cmake 2018-04-26 18:06:07.322011937 +0200
-@@ -226,9 +226,7 @@
- # finalize the project setup.
- #
- MACRO(SETUP_PROJECT_FINALIZE)
-- _SETUP_PROJECT_PKG_CONFIG_FINALIZE()
- _SETUP_PROJECT_DOCUMENTATION_FINALIZE()
-- _SETUP_PROJECT_HEADER_FINAlIZE()
- _SETUP_DEBIAN()
- # Install data if needed
- _INSTALL_PROJECT_DATA()
diff --git a/py-sot-core-v3/patches/patch-ac b/py-sot-core-v3/patches/patch-ac
deleted file mode 100644
index d0a355e78f8bebb8c9718ea1c23e35777e2e32fa..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-ac
+++ /dev/null
@@ -1,12 +0,0 @@
-Add missing target dependency to pinocchio to get the right flags
-
---- CMakeLists.txt.orig 2019-03-05 15:28:26.000000000 +0100
-+++ CMakeLists.txt 2019-03-05 15:30:03.548372096 +0100
-@@ -71,6 +71,7 @@
- IF(BUILD_PYTHON_INTERFACE)
- PYTHON_ADD_MODULE(robot_utils_sot_py src/tools/robot-utils-py.cpp)
- PKG_CONFIG_USE_DEPENDENCY(robot_utils_sot_py dynamic-graph)
-+ PKG_CONFIG_USE_DEPENDENCY(robot_utils_sot_py pinocchio)
- TARGET_LINK_LIBRARIES(robot_utils_sot_py ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} ${LIBRARY_NAME})
- TARGET_LINK_BOOST_PYTHON(robot_utils_sot_py)
- INSTALL(TARGETS robot_utils_sot_py DESTINATION ${PYTHON_INSTALL_DIR})
diff --git a/py-sot-core-v3/patches/patch-ad b/py-sot-core-v3/patches/patch-ad
deleted file mode 100644
index 83ef8fe0054c7c19212a59d6abe3cc57a3f10707..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-ad
+++ /dev/null
@@ -1,40 +0,0 @@
-Don't install main headers
-
---- cmake/header.cmake~ 2017-10-26 15:25:19.000000000 +0200
-+++ cmake/header.cmake 2018-04-26 18:37:42.582417765 +0200
-@@ -92,11 +92,6 @@
- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
- @ONLY
- )
-- INSTALL(FILES
-- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
-- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
- # Generate warning.hh header.
- CONFIGURE_FILE(
- ${PROJECT_SOURCE_DIR}/cmake/warning.hh.cmake
-@@ -104,11 +99,6 @@
- @ONLY
- )
-
-- INSTALL(FILES
-- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/warning.${PROJECT_CUSTOM_HEADER_EXTENSION}
-- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
-
-
- # Generate config.h header.
-@@ -150,11 +140,6 @@
- @ONLY
- )
- # Install it.
-- INSTALL(FILES
-- ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/${FILENAME}
-- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-- PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-- )
- ENDFUNCTION(GENERATE_CONFIGURATION_HEADER)
-
-
diff --git a/py-sot-core-v3/patches/patch-ae b/py-sot-core-v3/patches/patch-ae
deleted file mode 100644
index 9b485c18ccb96b22dbb3bfe39d6f3d994ce90103..0000000000000000000000000000000000000000
--- a/py-sot-core-v3/patches/patch-ae
+++ /dev/null
@@ -1,31 +0,0 @@
-From 5961ecf4cefff6d7e22f493435a44008db178307 Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Thu, 7 Mar 2019 10:41:47 +0100
-Subject: [PATCH] fix build on C++11
-MIME-Version: 1.0
-Content-Type: text/plain; charset=UTF-8
-Content-Transfer-Encoding: 8bit
-
-src/tools/device.cpp:530:19: error: unable to find string literal operator ‘operator""what’ with ‘const char [31]’, ‘long unsigned int’ arguments
- CHECK_BOUNDS(state_, lowerPosition_, upperPosition_, "position");
- ^
----
- src/tools/device.cpp | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/src/tools/device.cpp b/src/tools/device.cpp
-index 03ca73b..0e2df1e 100644
---- src/tools/device.cpp
-+++ src/tools/device.cpp
-@@ -508,7 +508,7 @@ saturateBounds (double& val, const double& lower, const double& upper)
- for (int i = 0; i < val.size(); ++i) { \
- double old = val(i); \
- if (saturateBounds (val(i), lower(i), upper(i))) \
-- dgRTLOG () << "Robot "what" bound violation at DoF " << i << \
-+ dgRTLOG () << "Robot " what " bound violation at DoF " << i << \
- ": requested " << old << " but set " << val(i) << '\n'; \
- }
-
---
-2.7.4
-