diff --git a/jrl-walkgen-v3/Makefile b/jrl-walkgen-v3/Makefile
index e36561e8a09d8975a98abe4fe0c5b7dd0f4eb6e6..be2ee6dd89c2176a342ce2511a115c8bbe37f235 100644
--- a/jrl-walkgen-v3/Makefile
+++ b/jrl-walkgen-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			jrl-walkgen
-VERSION=		4.2.6
+VERSION=		4.2.7
 
 PKGNAME=		${NAME}-v3-${VERSION}
 
@@ -15,7 +15,6 @@ CONFLICTS+=		${NAME}
 
 include ../../devel/jrl-cmakemodules/Makefile.common
 include ../../math/eiquadprog/depend.mk
-include ../../graphics/simple-humanoid-description/depend.mk
 include ../../math/pinocchio/depend.mk
 include ../../mk/sysdep/cmake.mk
 include ../../mk/sysdep/doxygen.mk
diff --git a/jrl-walkgen-v3/distinfo b/jrl-walkgen-v3/distinfo
index e87173fcb3c2bc0e76757a68bea5c800081975e5..2d050a859c1b45e57b1111e786ab50e6c03f8272 100644
--- a/jrl-walkgen-v3/distinfo
+++ b/jrl-walkgen-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (jrl-walkgen-4.2.6.tar.gz) = cd7006cd9200d122540d35dbbbc05c2f095b379f
-RMD160 (jrl-walkgen-4.2.6.tar.gz) = 8354e82af3602be4e7f47dcd4edc3f812f6a0e82
-Size (jrl-walkgen-4.2.6.tar.gz) = 19750300 bytes
+SHA1 (jrl-walkgen-4.2.7.tar.gz) = bc5b4ece85eff032da68231e4077efcc60da20e7
+RMD160 (jrl-walkgen-4.2.7.tar.gz) = f42908396c2338ddb4967038e397c37432d88e6b
+Size (jrl-walkgen-4.2.7.tar.gz) = 19750131 bytes