diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 41fe98d57..945326932 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -34,7 +34,7 @@ repositories:
   ICUB:
     type: git
     url: https://github.com/robotology/icub-main.git
-    version: v2.6.3
+    version: v2.7.0
   ICUBcontrib:
     type: git
     url: https://github.com/robotology/icub-contrib-common.git
@@ -142,7 +142,7 @@ repositories:
   icub-firmware-models:
     type: git
     url: https://github.com/robotology/icub-firmware-models.git
-    version: v1.39.0
+    version: v1.41.0
   yarp-device-xsensmt:
     type: git
     url: https://github.com/robotology/yarp-device-xsensmt.git