diff --git a/py-sot-tiago/Makefile b/py-sot-tiago/Makefile
index 67c5980a6300a6f996b4cbf625ef1d7547a10bd5..3573377e6157c23670081797e6dfe5fd7d095344 100644
--- a/py-sot-tiago/Makefile
+++ b/py-sot-tiago/Makefile
@@ -4,7 +4,7 @@
ORG= stack-of-tasks
NAME= sot-tiago
-VERSION= 1.4.0
+VERSION= 1.4.1
CATEGORIES= wip
COMMENT= This packages provides a generic Stack Of Tasks library for the mobile robot Tiago.
diff --git a/py-sot-tiago/PLIST b/py-sot-tiago/PLIST
index acc6cd3b35a1f434556c9ab973de51e9eff080c4..601b6b7a8de7ad81fab640f59e392d0ce20ca3dd 100644
--- a/py-sot-tiago/PLIST
+++ b/py-sot-tiago/PLIST
@@ -14,13 +14,13 @@ lib/pkgconfig/sot-tiago.pc
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/diff_drive_controller/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/diff_drive_controller/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/tiago/robot.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/sot_tiago_device/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/sot_tiago_device/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/steel/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/steel/prologue.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/steel/robot.py
${PYTHON_SITELIB}/dynamic_graph/sot/tiago/tiago.py
+share/sot-tiago/package.xml
share/sot-tiago/tests/appli.py
share/sot-tiago/tests/stop-controllers.py
share/sot-tiago/tests/test.py
diff --git a/py-sot-tiago/distinfo b/py-sot-tiago/distinfo
index 548f19722bfc581445805c9603d4cae0feeb07cb..5d44d620cadd63139df3336c3eba152f143c30e6 100644
--- a/py-sot-tiago/distinfo
+++ b/py-sot-tiago/distinfo
@@ -1,4 +1,3 @@
-SHA1 (sot-tiago-1.4.0.tar.gz) = 330001201902ae801e641d83bd1c9a1490e722d5
-RMD160 (sot-tiago-1.4.0.tar.gz) = 4f2f219c342b8aef3d88840fe46a456680406d77
-Size (sot-tiago-1.4.0.tar.gz) = 853535 bytes
-SHA1 (patch-aa) = dbe7a6d60f8e92af04aa9eb138c966c7f085c31c
+SHA1 (sot-tiago-1.4.1.tar.gz) = 144b3df20e8fb2b9772112d54790bfeebf36be06
+RMD160 (sot-tiago-1.4.1.tar.gz) = 8bca016ecc3678469d446433a589097deadbc73b
+Size (sot-tiago-1.4.1.tar.gz) = 821981 bytes
diff --git a/py-sot-tiago/patches/patch-aa b/py-sot-tiago/patches/patch-aa
deleted file mode 100644
index a8c67b5dbca7b98d6e79d22fffd767b82a577fc3..0000000000000000000000000000000000000000
--- a/py-sot-tiago/patches/patch-aa
+++ /dev/null
@@ -1,25 +0,0 @@
-From 5ac2aa337bad7cd894b0c886c3c049844f712c57 Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Thu, 26 Mar 2020 09:45:36 +0100
-Subject: [PATCH] [CMake] fix dynamic_graph_bridge use
-
----
- src/CMakeLists.txt | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index b8db444..58db421 100644
---- src/CMakeLists.txt
-+++ src/CMakeLists.txt
-@@ -61,7 +61,7 @@ ADD_LIBRARY(${CONTROLLER_NAME} SHARED
-
- # Link the dynamic library containing the SoT with its dependencies.
- TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} sot-core::sot-core dynamic-graph-python::dynamic-graph-python
-- sot-tiago-device "ros_bridge" "ros_interpreter")
-+ dynamic_graph_bridge::ros_bridge dynamic_graph_bridge::ros_interpreter sot-tiago-device)
-
- IF(UNIX AND NOT APPLE)
- TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ${Boost_LIBRARIES})
---
-2.26.0
-