diff --git a/CMakeLists.txt b/CMakeLists.txt
index f5cad4e..994ebdd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.1)
 cmake_policy(SET CMP0048 NEW)
 
 option(DISABLE_ROS OFF)
-project(mc_rtc_data VERSION 1.0.3)
+project(mc_rtc_data VERSION 1.0.4)
 
 enable_testing()
 
diff --git a/conanfile.py b/conanfile.py
index 784c4f0..16cc8a9 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -9,7 +9,7 @@
 
 class MCRTCDataConan(base.Eigen3ToPythonConan):
     name = "mc_rtc_data"
-    version = "1.0.3"
+    version = "1.0.4"
     description = "Environments/Robots description for mc_rtc"
     topics = ("robotics", "data")
     url = "https://github.com/jrl-umi3218/mc_rtc_data"
diff --git a/debian/changelog b/debian/changelog
index f208f36..6a72f1d 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,10 @@
+mc-rtc-data (1.0.4-1ubuntu1) unstable; urgency=medium
+
+  * Add chair model
+  * Better handle DISABLE_ROS
+
+ -- Pierre Gergondet <pierre.gergondet+ppa@gmail.com>  Wed, 23 Sep 2020 22:13:35 +0800
+
 mc-rtc-data (1.0.3-1ubuntu1) unstable; urgency=medium
 
   * Remove duplicate files
diff --git a/jvrc_description/CMakeLists.txt b/jvrc_description/CMakeLists.txt
index cfd604a..8e68353 100644
--- a/jvrc_description/CMakeLists.txt
+++ b/jvrc_description/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.1)
 cmake_policy(SET CMP0048 NEW)
-project(jvrc_description VERSION 1.0.3)
+project(jvrc_description VERSION 1.0.4)
 
 if(NOT DISABLE_ROS)
   find_package(catkin QUIET)
diff --git a/jvrc_description/package.xml b/jvrc_description/package.xml
index 71e2487..58d66d2 100644
--- a/jvrc_description/package.xml
+++ b/jvrc_description/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>jvrc_description</name>
-  <version>1.0.3</version>
+  <version>1.0.4</version>
   <description>Description package for the JVRC-1 robot</description>
   <author>Pierre Gergondet</author>
   <maintainer email="pierre.gergondet@gmail.com">Pierre Gergondet</maintainer>
diff --git a/mc_env_description/CMakeLists.txt b/mc_env_description/CMakeLists.txt
index debff82..4bb3024 100644
--- a/mc_env_description/CMakeLists.txt
+++ b/mc_env_description/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.1)
 cmake_policy(SET CMP0048 NEW)
-project(mc_env_description VERSION 1.0.3)
+project(mc_env_description VERSION 1.0.4)
 
 if(NOT DISABLE_ROS)
   find_package(catkin QUIET)
diff --git a/mc_env_description/package.xml b/mc_env_description/package.xml
index c3c91ee..efffd8b 100644
--- a/mc_env_description/package.xml
+++ b/mc_env_description/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>mc_env_description</name>
-  <version>1.0.3</version>
+  <version>1.0.4</version>
   <description>mc_env_description</description>
   <author>Joris Vaillant</author>
   <maintainer email="pierre.gergondet@gmail.com">Pierre Gergondet</maintainer>
diff --git a/mc_int_obj_description/CMakeLists.txt b/mc_int_obj_description/CMakeLists.txt
index 7fbf5c8..c012e71 100644
--- a/mc_int_obj_description/CMakeLists.txt
+++ b/mc_int_obj_description/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.1)
 cmake_policy(SET CMP0048 NEW)
-project(mc_int_obj_description VERSION 1.0.3)
+project(mc_int_obj_description VERSION 1.0.4)
 
 if(NOT DISABLE_ROS)
   find_package(catkin QUIET)
diff --git a/mc_int_obj_description/package.xml b/mc_int_obj_description/package.xml
index 4596ec7..cf7cfe4 100644
--- a/mc_int_obj_description/package.xml
+++ b/mc_int_obj_description/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>mc_int_obj_description</name>
-  <version>1.0.3</version>
+  <version>1.0.4</version>
   <description>mc_int_obj_description</description>
   <author>Joris Vaillant</author>
   <maintainer email="pierre.gergondet@gmail.com">Pierre Gergondet</maintainer>
diff --git a/mc_rtc_data/package.xml b/mc_rtc_data/package.xml
index 133bd0f..4050b42 100644
--- a/mc_rtc_data/package.xml
+++ b/mc_rtc_data/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>mc_rtc_data</name>
-  <version>1.0.3</version>
+  <version>1.0.4</version>
   <description>Data for mc_rtc</description>
   <maintainer email="pierre.gergondet@gmail.com">Pierre Gergondet</maintainer>
   <license>BSD</license>