diff --git a/ergocub_moveit_config/package.xml b/ergocub_moveit_config/package.xml
index e390852..4e338f5 100644
--- a/ergocub_moveit_config/package.xml
+++ b/ergocub_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ergocub_moveit_config</name>
-  <version>0.3.0</version>
+  <version>0.2.0</version>
   <description>
      A ROS2 package with the configuration and launch files for using the ergoCub with the MoveIt Motion Planning Framework
   </description>
diff --git a/icub_moveit_config/package.xml b/icub_moveit_config/package.xml
index faf72b7..86cd0b1 100644
--- a/icub_moveit_config/package.xml
+++ b/icub_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>icub_moveit_config</name>
-  <version>0.3.0</version>
+  <version>0.2.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the iCub with the MoveIt Motion Planning Framework
   </description>
diff --git a/xcub_moveit_grasp/package.xml b/xcub_moveit_grasp/package.xml
index bfb0d89..3286097 100644
--- a/xcub_moveit_grasp/package.xml
+++ b/xcub_moveit_grasp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>xcub_moveit_grasp</name>
-  <version>0.0.0</version>
+  <version>0.2.0</version>
   <description>ROS2 package for grasping task</description>
   <maintainer email="martina.gloria@iit.it">Martina Gloria</maintainer>
   <license>TODO: License declaration</license>
diff --git a/xcub_moveit_robot/package.xml b/xcub_moveit_robot/package.xml
index a392921..1f6efbb 100644
--- a/xcub_moveit_robot/package.xml
+++ b/xcub_moveit_robot/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>xcub_moveit_robot</name>
-  <version>0.0.0</version>
+  <version>0.2.0</version>
   <description>TODO: Package description</description>
   <maintainer email="martina.gloria@iit.it">martinagloria</maintainer>
   <license>TODO: License declaration</license>
diff --git a/xcub_moveit_test_controller/package.xml b/xcub_moveit_test_controller/package.xml
index 8aca0d4..dac1e0c 100644
--- a/xcub_moveit_test_controller/package.xml
+++ b/xcub_moveit_test_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>xcub_moveit_test_controller</name>
-  <version>0.0.0</version>
+  <version>0.2.0</version>
   <description>TODO: Package description</description>
   <maintainer email="martina.gloria@iit.it">martinagloria</maintainer>
   <license>TODO: License declaration</license>
diff --git a/xcub_ros2_controllers/package.xml b/xcub_ros2_controllers/package.xml
index 42d7acb..a2fad4b 100644
--- a/xcub_ros2_controllers/package.xml
+++ b/xcub_ros2_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>xcub_ros2_controllers</name>
-  <version>0.0.0</version>
+  <version>0.2.0</version>
   <description>TODO: Package description</description>
   <maintainer email="martina.gloria@iit.it">martinagloria</maintainer>
   <license>TODO: License declaration</license>