diff --git a/aeps.yaml b/aeps.yaml
index 5bac533..e592f59 100644
--- a/aeps.yaml
+++ b/aeps.yaml
@@ -9,7 +9,7 @@ repositories:
     version: f9fc23d3436e4b17dd2cb95f70cfa1f37d122c24
   manif:
     type: git
-    url: https://github.com/robotology-dependencies/manif.git
+    url: https://github.com/artivis/manif.git
     version: 496717aa792c1ff4b99049034e53f9fa0ac676a3
   qhull:
     type: git
@@ -26,35 +26,35 @@ repositories:
   YCM:
     type: git
     url: https://github.com/robotology/ycm.git
-    version: v0.13.0
+    version: v0.12.2
   YARP:
     type: git
     url: https://github.com/robotology/yarp.git
-    version: v3.4.6
+    version: v3.4.5
   ICUB:
     type: git
     url: https://github.com/robotology/icub-main.git
-    version: 52a51449d9e10cb6c05987455b1d3edac5825eaa
+    version: v1.20.0
   ICUBcontrib:
     type: git
     url: https://github.com/robotology/icub-contrib-common.git
-    version: cd6352688c64aadc0a044925532d08fbcb688886
+    version: v1.19.0
   robots-configuration:
     type: git
     url: https://github.com/robotology/robots-configuration.git
-    version: 51d79c07744e166a0afc49ac9edfaabd9538d54c
+    version: v1.20.0
   GazeboYARPPlugins:
     type: git
     url: https://github.com/robotology/gazebo-yarp-plugins.git
-    version: 90df1566fc05e5830252bbfc1d34df4b7a4ca976
+    version: v3.6.1
   icub-models:
     type: git
     url: https://github.com/robotology/icub-models.git
-    version: 955de8fdfebb7ab1f60d8fd1dcadfe05bc587222
+    version: v1.20.0
   yarp-matlab-bindings:
     type: git
     url: https://github.com/robotology/yarp-matlab-bindings.git
-    version: 30ab77bed50887a5fc7f1873ae5ee9f488eb6b3b
+    version: v3.4.4
   RobotTestingFramework:
     type: git
     url: https://github.com/robotology/robot-testing-framework.git
@@ -62,15 +62,15 @@ repositories:
   icub-tests:
     type: git
     url: https://github.com/robotology/icub-tests.git
-    version: v1.20.1
+    version: v1.20.0
   blocktestcore:
     type: git
     url: https://github.com/robotology/blocktest.git
-    version: v2.3.3
+    version: v2.3.2
   blocktest-yarp-plugins:
     type: git
     url: https://github.com/robotology/blocktest-yarp-plugins.git
-    version: v1.1.2
+    version: v1.1.1
   iDynTree:
     type: git
     url: https://github.com/ami-iit/idyntree-hde-fork.git
@@ -102,11 +102,11 @@ repositories:
   whole-body-controllers:
     type: git
     url: https://github.com/robotology/whole-body-controllers.git
-    version: v2.5.3
+    version: v2.5.2
   whole-body-estimators:
     type: git
     url: https://github.com/robotology/whole-body-estimators.git
-    version: v0.5.1
+    version: v0.5.0
   walking-teleoperation:
     type: git
     url: https://github.com/robotology/walking-teleoperation.git
@@ -119,26 +119,26 @@ repositories:
     type: git
     url: https://github.com/robotology/wearables.git
     version: ff6bd84a98f3fc01dc44e09af24475c2c72ce1ae
-  HumanDynamicsEstimation:
+  human-dynamics-estimation:
     type: git
     url: https://github.com/robotology/human-dynamics-estimation.git
-    version: caeeabcdbe7724d6f98b6cc37eb7b0171ed82d33
+    version: 642d0ec5035c6585bf4cddf80361e04748b088dd
   human-gazebo:
     type: git
     url: https://github.com/robotology/human-gazebo.git
-    version: v1.0
+    version: 455f212fc507135ba4f393c28364588140470498
   icub_firmware_shared:
     type: git
     url: https://github.com/robotology/icub-firmware-shared.git
-    version: v1.21.0
+    version: v1.20.0
   icub-firmware:
     type: git
     url: https://github.com/robotology/icub-firmware.git
-    version: v1.21.0
+    version: v1.20.0
   icub-firmware-build:
     type: git
     url: https://github.com/robotology/icub-firmware-build.git
-    version: v1.21.0
+    version: v1.20.0
   icub-firmware-models:
     type: git
     url: https://github.com/robotology/icub-firmware-models.git
@@ -158,7 +158,7 @@ repositories:
   icub-basic-demos:
     type: git
     url: https://github.com/robotology/icub-basic-demos.git
-    version: v1.20.1
+    version: v1.20.0
   funny-things:
     type: git
     url: https://github.com/robotology/funny-things.git
@@ -166,11 +166,11 @@ repositories:
   bipedal-locomotion-framework:
     type: git
     url: https://github.com/dic-iit/bipedal-locomotion-framework.git
-    version: v0.3.0
+    version: v0.1.0
   LieGroupControllers:
     type: git
     url: https://github.com/dic-iit/lie-group-controllers.git
-    version: v0.1.1
+    version: v0.0.1
   event-driven:
     type: git
     url: https://github.com/robotology/event-driven.git
@@ -203,7 +203,3 @@ repositories:
     type: git
     url: https://github.com/dic-iit/casadi-matlab-bindings.git
     version: v3.5.5.1
-  idyntree-yarp-tools:
-    type: git
-    url: https://github.com/robotology/idyntree-yarp-tools.git
-    version: v0.0.2
diff --git a/aeps_2021_05.yaml b/aeps_2021_05.yaml
deleted file mode 100644
index 4ab6f6a..0000000
--- a/aeps_2021_05.yaml
+++ /dev/null
@@ -1,205 +0,0 @@
-repositories:
-  qpOASES:
-    type: git
-    url: https://github.com/robotology-dependencies/qpOASES.git
-    version: 90390fff9d9f111cb693deea42714237894fe1dc
-  osqp:
-    type: git
-    url: https://github.com/oxfordcontrol/osqp.git
-    version: f9fc23d3436e4b17dd2cb95f70cfa1f37d122c24
-  manif:
-    type: git
-    url: https://github.com/artivis/manif.git
-    version: 496717aa792c1ff4b99049034e53f9fa0ac676a3
-  qhull:
-    type: git
-    url: https://github.com/qhull/qhull.git
-    version: v8.0.2
-  CppAD:
-    type: git
-    url: https://github.com/coin-or/CppAD.git
-    version: 20210000.4
-  casadi:
-    type: git
-    url: https://github.com/dic-iit/casadi.git
-    version: fc6189a4306ad7f0351b6c2bc32827ab6368c943
-  YCM:
-    type: git
-    url: https://github.com/robotology/ycm.git
-    version: v0.12.2
-  YARP:
-    type: git
-    url: https://github.com/robotology/yarp.git
-    version: v3.4.5
-  ICUB:
-    type: git
-    url: https://github.com/robotology/icub-main.git
-    version: v1.20.0
-  ICUBcontrib:
-    type: git
-    url: https://github.com/robotology/icub-contrib-common.git
-    version: v1.19.0
-  robots-configuration:
-    type: git
-    url: https://github.com/robotology/robots-configuration.git
-    version: v1.20.0
-  GazeboYARPPlugins:
-    type: git
-    url: https://github.com/robotology/gazebo-yarp-plugins.git
-    version: v3.6.1
-  icub-models:
-    type: git
-    url: https://github.com/robotology/icub-models.git
-    version: v1.20.0
-  yarp-matlab-bindings:
-    type: git
-    url: https://github.com/robotology/yarp-matlab-bindings.git
-    version: v3.4.4
-  RobotTestingFramework:
-    type: git
-    url: https://github.com/robotology/robot-testing-framework.git
-    version: v2.0.1
-  icub-tests:
-    type: git
-    url: https://github.com/robotology/icub-tests.git
-    version: v1.20.0
-  blocktestcore:
-    type: git
-    url: https://github.com/robotology/blocktest.git
-    version: v2.3.2
-  blocktest-yarp-plugins:
-    type: git
-    url: https://github.com/robotology/blocktest-yarp-plugins.git
-    version: v1.1.1
-  iDynTree:
-    type: git
-    url: https://github.com/ami-iit/idyntree-hde-fork.git
-    version: 6fec756ec9dca59b1ef266bd807d2be3759d7d3c
-  BlockFactory:
-    type: git
-    url: https://github.com/robotology/blockfactory.git
-    version: v0.8.2
-  WBToolbox:
-    type: git
-    url: https://github.com/robotology/wb-toolbox.git
-    version: v5.4.1
-  OsqpEigen:
-    type: git
-    url: https://github.com/robotology/osqp-eigen.git
-    version: c01c310834b749533c63c8c829eab0cde3544d11
-  UnicyclePlanner:
-    type: git
-    url: https://github.com/robotology/unicycle-footstep-planner.git
-    version: v0.3.0
-  walking-controllers:
-    type: git
-    url: https://github.com/robotology/walking-controllers.git
-    version: v0.4.1
-  icub-gazebo-wholebody:
-    type: git
-    url: https://github.com/robotology/icub-gazebo-wholebody.git
-    version: v0.1.0
-  whole-body-controllers:
-    type: git
-    url: https://github.com/robotology/whole-body-controllers.git
-    version: v2.5.2
-  whole-body-estimators:
-    type: git
-    url: https://github.com/robotology/whole-body-estimators.git
-    version: v0.5.0
-  walking-teleoperation:
-    type: git
-    url: https://github.com/robotology/walking-teleoperation.git
-    version: v1.1.0
-  forcetorque-yarp-devices:
-    type: git
-    url: https://github.com/robotology/forcetorque-yarp-devices.git
-    version: v0.2.0
-  wearables:
-    type: git
-    url: https://github.com/robotology/wearables.git
-    version: ff6bd84a98f3fc01dc44e09af24475c2c72ce1ae
-  human-dynamics-estimation:
-    type: git
-    url: https://github.com/robotology/human-dynamics-estimation.git
-    version: caeeabcdbe7724d6f98b6cc37eb7b0171ed82d33
-  human-gazebo:
-    type: git
-    url: https://github.com/robotology/human-gazebo.git
-    version: v1.0
-  icub_firmware_shared:
-    type: git
-    url: https://github.com/robotology/icub-firmware-shared.git
-    version: v1.20.0
-  icub-firmware:
-    type: git
-    url: https://github.com/robotology/icub-firmware.git
-    version: v1.20.0
-  icub-firmware-build:
-    type: git
-    url: https://github.com/robotology/icub-firmware-build.git
-    version: v1.20.0
-  icub-firmware-models:
-    type: git
-    url: https://github.com/robotology/icub-firmware-models.git
-    version: v1.20.0
-  yarp-device-xsensmt:
-    type: git
-    url: https://github.com/robotology/yarp-device-xsensmt.git
-    version: v0.1.1
-  yarp-device-ovrheadset:
-    type: git
-    url: https://github.com/robotology/yarp-device-ovrheadset.git
-    version: v1.0.0
-  speech:
-    type: git
-    url: https://github.com/robotology/speech.git
-    version: v1.0.0
-  icub-basic-demos:
-    type: git
-    url: https://github.com/robotology/icub-basic-demos.git
-    version: v1.20.0
-  funny-things:
-    type: git
-    url: https://github.com/robotology/funny-things.git
-    version: v1.0.0
-  bipedal-locomotion-framework:
-    type: git
-    url: https://github.com/dic-iit/bipedal-locomotion-framework.git
-    version: v0.1.0
-  LieGroupControllers:
-    type: git
-    url: https://github.com/dic-iit/lie-group-controllers.git
-    version: v0.0.1
-  event-driven:
-    type: git
-    url: https://github.com/robotology/event-driven.git
-    version: v1.5
-  matioCpp:
-    type: git
-    url: https://github.com/dic-iit/matio-cpp.git
-    version: v0.1.1
-  diagnosticdaemon:
-    type: git
-    url: https://github.com/robotology/diagnostic-daemon.git
-    version: v1.0.0
-  osqp-matlab:
-    type: git
-    url: https://github.com/dic-iit/osqp-matlab-cmake-buildsystem.git
-    version: 55e36fec9f1c0b6281dec0faba1c8c093f955712
-  YARP_telemetry:
-    type: git
-    url: https://github.com/robotology/yarp-telemetry.git
-    version: v0.2.0
-  gym-ignition:
-    type: git
-    url: https://github.com/robotology/gym-ignition.git
-    version: v1.2.1
-  matlab-whole-body-simulator:
-    type: git
-    url: https://github.com/dic-iit/matlab-whole-body-simulator.git
-    version: v2.0.0
-  casadi-matlab-bindings:
-    type: git
-    url: https://github.com/dic-iit/casadi-matlab-bindings.git
-    version: v3.5.5.1
diff --git a/installation.md b/installation.md
index 8e1dffa..53b1293 100644
--- a/installation.md
+++ b/installation.md
@@ -37,12 +37,17 @@ git clone https://github.com/dic-iit/tirupachuri-2021-access-estimation_payload_
 export AEPS_ROOT=`pwd`/tirupachuri-2021-access-estimation_payload_stresses
 git clone https://github.com/robotology/robotology-superbuild
 cd robotology-superbuild
-git checkout v2021.08
+sudo bash ./scripts/install_apt_dependencies.sh
+git checkout v2021.05
 mkdir build && cd build
 cmake -DROBOTOLOGY_PROJECT_TAGS:STRING=Custom -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS=True -DROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE=${AEPS_ROOT}/aeps.yaml ..
 make
 ```
 
+:warning: Do not forget to configure your environment after successfully compiling robotology-superbuild. Please check [configure-your-environment](https://github.com/robotology/robotology-superbuild#configure-your-environment) section for further details.
+
+
+
 ⚠️ Do not build `robotology-superbuild` without the `ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE` option pointed to [aeps.yaml](./aeps.yaml) file. Check the description at the end of [robotology project tags](https://github.com/robotology/robotology-superbuild/blob/master/doc/change-project-tags.md) for further information.
 
 ### Dataset
diff --git a/usage.md b/usage.md
index 2c3040e..e45d386 100644
--- a/usage.md
+++ b/usage.md
@@ -21,23 +21,24 @@ yarpserver --ros --write
     yarpdataplayer --withExtraTimeCol 2 
     ```
   c.  File->"Open Directory" -> open the directory extracted from the [dataset zip file](./Dataset)
+  
+   
+4. Goto options and select `loop` option, and play the dataset by pressing :arrow_forward: on yarpdataplayer. This runs the dataset in a loop.
 
-4. Launch the Human Dynamics Estimation:
+5. Launch the Human Dynamics Estimation:
   ```bash
   yarprobotinterface --config Human_AMTI.xml
   ```
   
-5. Run the state publisher:
+6. Run the state publisher:
   ```bash
   yarprobotstatepublisher --period 0.0001 --name-prefix Human --tf-prefix /Human/ --model humanSubject02_66dof.urdf --reduced-model true --base-frame Pelvis --jointstates-topic "/Human/joint_states"
   ```
   
-6. Launch RVIZ with the HDE configuration:
+7. Launch RVIZ with the HDE configuration:
   ```bash
   roslaunch HDERviz HDERviz.launch
   ```
-  
-7. Play the dataset by pressing :arrow_forward: on yarpdataplayer
 
 8. Remove the wrench offset through `/HumanDynamicsEstimator/rpc:i` rpc port
 ```bash
@@ -46,5 +47,5 @@ removeWrenchOffset
 ```
 
 ⚠️ The offset removals is to be done at the **start** of the dataset, where the human subject is in neutral npose without any load in the hand. The offset removal process removes the wrench that corresponds to the difference between the mass of the actual subject and the mass of the
-subject in the model. The offset removal process results in zeroing the estimated object mass.
+subject in the model. The offset removal process results in zeroing the estimated object mass. Furthermore, if you do not see the arrow at the hand, click on the `RightHand_EstimatedExtWrenches` and increase the `Force Arrow Scale value`.