diff --git a/jrl-walkgen-v3/Makefile b/jrl-walkgen-v3/Makefile
index c657f044002b8bc0b2f46431a9ade14ef7ac1dfb..887ea2caf16c10ab8900853ab1e6c5b51aa32ade 100644
--- a/jrl-walkgen-v3/Makefile
+++ b/jrl-walkgen-v3/Makefile
@@ -4,15 +4,12 @@
ORG= stack-of-tasks
NAME= jrl-walkgen
-VERSION= 4.2.0
-PKGREVISION= 1
+VERSION= 4.2.1
PKGNAME= ${NAME}-v3-${VERSION}
CATEGORIES= wip
COMMENT= Walk pattern generator for the HRP-2 humanoid robot.
-LICENSE= 2-clause-bsd
-MAINTAINER= gepetto-soft@laas.fr
CONFLICTS+= ${NAME}
diff --git a/jrl-walkgen-v3/PLIST b/jrl-walkgen-v3/PLIST
index 3391a4098b05d95319485ec43c635aa3be111c48..38813e02cb6c90a307f8eaebc5d66fde2d48f474 100644
--- a/jrl-walkgen-v3/PLIST
+++ b/jrl-walkgen-v3/PLIST
@@ -1,17 +1,22 @@
@comment Fri Mar 1 14:23:47 CET 2013
include/jrl/walkgen/config.hh
include/jrl/walkgen/deprecated.hh
-include/jrl/walkgen/warning.hh
-lib/pkgconfig/jrl-walkgen.pc
include/jrl/walkgen/patterngeneratorinterface.hh
include/jrl/walkgen/pgtypes.hh
include/jrl/walkgen/pinocchiorobot.hh
-lib/libjrl-walkgen.so.${PKGVERSION}
+include/jrl/walkgen/warning.hh
+lib/cmake/jrl-walkgen/jrl-walkgenConfig.cmake
+lib/cmake/jrl-walkgen/jrl-walkgenConfigVersion.cmake
+lib/cmake/jrl-walkgen/jrl-walkgenTargets-release.cmake
+lib/cmake/jrl-walkgen/jrl-walkgenTargets.cmake
lib/libjrl-walkgen.so
+lib/libjrl-walkgen.so.${PKGVERSION}
+lib/pkgconfig/jrl-walkgen.pc
+share/jrl-walkgen/package.xml
+share/jrl/dynamics/examples/CommonTools.cpp
+share/jrl/dynamics/examples/CommonTools.hh
+share/jrl/dynamics/examples/TestFootPrintPGInterface.cpp
share/jrl/dynamics/examples/TestFootPrintPGInterfaceData.cpp
share/jrl/dynamics/examples/TestFootPrintPGInterfaceData.h
-share/jrl/dynamics/examples/TestFootPrintPGInterface.cpp
share/jrl/dynamics/examples/TestHerdt2010.cpp
-share/jrl/dynamics/examples/CommonTools.cpp
-share/jrl/dynamics/examples/CommonTools.hh
share/jrl/dynamics/examples/examples.CMakeList
diff --git a/jrl-walkgen-v3/distinfo b/jrl-walkgen-v3/distinfo
index 8c4ae1f44adfbf06321ce09d358e02d232e78c75..6d7a9827818b0905eb383c2f5a50b509bd85fd94 100644
--- a/jrl-walkgen-v3/distinfo
+++ b/jrl-walkgen-v3/distinfo
@@ -1,4 +1,3 @@
-SHA1 (jrl-walkgen-4.2.0.tar.gz) = 94e2bbd57f17fbe4af110c53026ca56fd3261a49
-RMD160 (jrl-walkgen-4.2.0.tar.gz) = c2897d2322906e8aa80842b48fea4204c4edc607
-Size (jrl-walkgen-4.2.0.tar.gz) = 15500455 bytes
-SHA1 (patch-aa) = 4d002ea5167ee0965be69e88396d0fab44a9457c
+SHA1 (jrl-walkgen-4.2.1.tar.gz) = be766fa03a354212f8d82615361de9a884e0908c
+RMD160 (jrl-walkgen-4.2.1.tar.gz) = eea27089c44f5676455dd28946c55a3ac1269daf
+Size (jrl-walkgen-4.2.1.tar.gz) = 15556238 bytes
diff --git a/jrl-walkgen-v3/patches/patch-aa b/jrl-walkgen-v3/patches/patch-aa
deleted file mode 100644
index e79cdeab3db23b2465daa1d746cb71314ea909a5..0000000000000000000000000000000000000000
--- a/jrl-walkgen-v3/patches/patch-aa
+++ /dev/null
@@ -1,12 +0,0 @@
---- tests/TestObject.cpp.orig 2019-07-29 10:33:00.000000000 +0200
-+++ tests/TestObject.cpp 2019-09-12 15:54:26.363661314 +0200
-@@ -29,6 +29,9 @@
- // System include for floating point errors
- #include <fenv.h>
-
-+// Include Pinocchio before boost
-+#include <pinocchio/fwd.hpp>
-+
- // Boost includes to parse XML files
- #include <boost/property_tree/ptree.hpp>
- #include <boost/property_tree/xml_parser.hpp>