diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 738b188f08fb46699aad0ad71ca570390072fc27..7dae48d4029861c7a806e7b971097ec71fc24b23 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -1,47 +1,40 @@
-# robotpkg Makefile for: wip/sot-dynamic-pinocchio
+# robotpkg Makefile for: wip/sot-dynamic-pinocchio-v3
# Created: Rohan Budhiraja on Fri, 8 Apr 2016
#
-VERSION= 3.1.8
-PKGNAME= sot-dynamic-pinocchio-v3-${VERSION}
-DISTNAME= sot-dynamic-pinocchio-v3-${VERSION}
+ORG= stack-of-tasks
+NAME= sot-dynamic-pinocchio
+VERSION= 3.2.0
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-dynamic-pinocchio/
-CHECKOUT_VCS_OPTS+= --recursive
+DISTNAME= ${NAME}-${VERSION}
+PKGNAME= ${NAME}-v3-${VERSION}
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+= --recursive
-MAINTAINER= gepetto@laas.fr
-CATEGORIES= wip
-LICENSE= gnu-lgpl-v3
-COMMENT= Create entities to compute a robot dynamics properties using pinocchio
+CATEGORIES= wip
+COMMENT= Create entities to compute a robot dynamics properties using pinocchio
+LICENSE= 2-clause-bsd
+MAINTAINER= gepetto-soft@laas.fr
+CONFLICTS+= ${NAME}
# parallel builds would consume all memory because of the g++ process size
MAKE_JOBS_SAFE= no
-DYNAMIC_PLIST_DIRS+= share/doc/sot-dynamic-pinocchio
-CMAKE_ARGS+= -DPYTHON_SITELIB=${PYTHON_SITELIB}
-CMAKE_ARGS+= -DPYTHON_INCLUDE_PATH=${PYTHON_INCLUDE}
-CMAKE_ARGS+= -DPYTHON_LIBRARY=${PYTHON_LIB}
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-
-CONFLICTS+= sot-dynamic
-CONFLICTS+= sot-dynamic-v3
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-DEPEND_ABI.python+= python<3.0
+DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
include ../../devel/tinyxml/depend.mk
include ../../math/pinocchio/depend.mk
-include ../../math/py-pinocchio/depend.mk
-include ../../wip/py-sot-tools-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
+include ../../wip/sot-tools-v3/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
include ../../mk/sysdep/graphviz.mk
-include ../../mk/sysdep/pdflatex.mk
-include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/robotpkg.mk
diff --git a/sot-dynamic-pinocchio-v3/PLIST b/sot-dynamic-pinocchio-v3/PLIST
index 43e87b4bb393e547867af42f6287abe876113c45..422e1116ba78417be031e6d09c944c4c0db5582c 100644
--- a/sot-dynamic-pinocchio-v3/PLIST
+++ b/sot-dynamic-pinocchio-v3/PLIST
@@ -34,29 +34,3 @@ lib/plugin/dp-zmp-from-forces.so
lib/plugin/dp-zmp-from-forces.so.${PKGVERSION}
lib/plugin/dp-zmpreffromcom.so
lib/plugin/dp-zmpreffromcom.so.${PKGVERSION}
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/parser.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/tools.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo.py
-${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo_small.py
diff --git a/sot-dynamic-pinocchio-v3/depend.mk b/sot-dynamic-pinocchio-v3/depend.mk
index 73cb09adf1ab9d3830c4e6d3023bb2e019321566..124c2bf1b2a99ae67e48746c4f3b49a421db3c66 100644
--- a/sot-dynamic-pinocchio-v3/depend.mk
+++ b/sot-dynamic-pinocchio-v3/depend.mk
@@ -1,4 +1,4 @@
-# robotpkg Makefile for: wip/sot-dynamic-pinocchio
+# robotpkg Makefile for: wip/sot-dynamic-pinocchio-v3
# Created: Rohan Budhiraja on Fri, 8 Apr 2016
#
@@ -15,7 +15,7 @@ PREFER.sot-dynamic-pinocchio-v3?= robotpkg
SYSTEM_SEARCH.sot-dynamic-pinocchio-v3=\
include/sot-dynamic-pinocchio/dynamic-pinocchio.h \
- 'lib/pkgconfig/sot-dynamic-pinocchio.pc:Version/s/[^0-9.]//gp'
+ 'lib/pkgconfig/sot-dynamic-pinocchio.pc:Version/s/[^0-9.]//gp'
DEPEND_USE+= sot-dynamic-pinocchio-v3
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 76efc635babeb3157e085df08428c2f019edde21..25010a8b3e1f680d5847a6e8db9a692d81515ea5 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.1.8.tar.gz) = 5146ccf33c4e9f99ab555308c724c75675ac7505
-RMD160 (sot-dynamic-pinocchio-v3-3.1.8.tar.gz) = 76c79b682019a852dd60f87172a52e5a00e489ab
-Size (sot-dynamic-pinocchio-v3-3.1.8.tar.gz) = 854425 bytes
+SHA1 (sot-dynamic-pinocchio-3.2.0.tar.gz) = 215807883a0f4e224d5b87763b8194cb1c123cc1
+RMD160 (sot-dynamic-pinocchio-3.2.0.tar.gz) = b8a7d6099009c19cd1b7853b30808e6748658e74
+Size (sot-dynamic-pinocchio-3.2.0.tar.gz) = 857339 bytes