diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index 5777f1881..619406bff 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -6,7 +6,7 @@ endmacro()
 
 # External projects
 set_tag(osqp_TAG v0.6.2)
-set_tag(manif_TAG 0.0.3)
+set_tag(manif_TAG 0.0.4)
 set_tag(qhull_TAG v8.0.2)
 set_tag(CppAD_TAG 20210000.4)
 set_tag(casadi 3.5.5.3)
@@ -15,6 +15,3 @@ set_tag(casadi 3.5.5.3)
 set_tag(YCM_TAG ycm-0.12)
 set_tag(YARP_TAG yarp-3.4)
 set_tag(yarp-matlab-bindings_TAG yarp-3.4)
-
-# Temporary workaround for manif incompatibiltiy
-set_tag(bipedal-locomotion-framework_TAG 5b76dc40b0f9e825e29f8de5e100240b9f7d640c)
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index bd8c26a0f..e9156a7e8 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -6,7 +6,7 @@ endmacro()
 
 # External projects
 set_tag(osqp_TAG v0.6.2)
-set_tag(manif_TAG 85cad9841b0ac4800e10e38c634c397d401e6375)
+set_tag(manif_TAG 0.0.4)
 set_tag(qhull_TAG v8.0.2)
 set_tag(CppAD_TAG 20210000.4)
 set_tag(casadi 3.5.5.3)
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 13e072d40..f62b9c500 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -10,7 +10,7 @@ repositories:
   manif:
     type: git
     url: https://github.com/artivis/manif.git
-    version: 0.0.3
+    version: 0.0.4
   qhull:
     type: git
     url: https://github.com/qhull/qhull.git
@@ -166,7 +166,7 @@ repositories:
   bipedal-locomotion-framework:
     type: git
     url: https://github.com/dic-iit/bipedal-locomotion-framework.git
-    version: v0.1.0
+    version: v0.2.0
   LieGroupControllers:
     type: git
     url: https://github.com/dic-iit/lie-group-controllers.git