diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2aaa56c..a60e8b5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,10 +4,27 @@ All notable changes to this project will be documented in this file.
 The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 
+## [Unreleased]
+
+### Fixed
+* Fixed document on the use of `AMENT_PREFIX_PATH` environment variable (https://github.com/robotology/icub-models/pull/101).
+
+## [1.21.0] - 2021-08-27
+
+### Added
+* The `hand_mk3` and `wrist_mk2` containing the new version of iCub's hand and wrist, codenamed iCub hand Mk3 and iCub wrist Mk2, have been added to the repo. As this models are still in development, they could change in the future (https://github.com/robotology/icub-models-generator/pull/203, https://github.com/robotology/icub-models/pull/95).
+
+### Changed
+* The iCub3 models (`iCubGenova09` and `iCubGazeboV3`) have been updated with the new arm covers (https://github.com/robotology/icub-models-generator/pull/202).
+
+### Fixed 
+* The masses of iCub3 models (`iCubGenova09` and `iCubGazeboV3`) have been fixed to be more similar to the one of the real robot (https://github.com/robotology/icub-models-generator/pull/207).
+
+
 ## [1.20.0] - 2021-05-30
 
 ### Changed
-The gains and damping parameters of `iCubGazeboV3` have been changed (https://github.com/robotology/icub-models-generator/pull/199).
+* The gains and damping parameters of `iCubGazeboV3` have been changed (https://github.com/robotology/icub-models-generator/pull/199).
 
 ## [1.19.0] - 2021-02-24
 
diff --git a/README.md b/README.md
index ce96a75..605fbe1 100644
--- a/README.md
+++ b/README.md
@@ -32,7 +32,6 @@ If `<icub-models>` is the location of the repo, some folders need to be appended
 ```sh
 export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<icub-models>/build/iCub
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:<icub-models>/build
-export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH}:<icub-models>/build
 ```
 
 ### By installing the models
@@ -51,7 +50,7 @@ Once the models are installed into a given prefix, edit the env variables as fol
 ```sh
 export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<prefix>/share/iCub
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:<prefix>/share
-export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH}:<prefix>/share
+export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH}:<prefix>
 ```
 ### Use the models with Gazebo
 In order to use these models in Gazebo, set up the simulation environment following the instructions provided in the [icub-gazebo](https://github.com/robotology/icub-gazebo) repository, and add the following line to your ``.bashrc``:
diff --git a/iCub/package.xml b/iCub/package.xml
index d3c8f3b..fb387d2 100644
--- a/iCub/package.xml
+++ b/iCub/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>iCub</name>
-  <version>1.18.0</version>
+  <version>1.21.0</version>
   <description>
     This is not an actual package, but rather a placeholder to 
     make sure that the share/iCub directory is found as the