diff --git a/py-sot-core-v3/Makefile b/py-sot-core-v3/Makefile
index 33a232167179b888a85ae954ddb6ca8fcd1c83f6..c1bda630998abc5b9c4eb0a240bfd94c3fe8e9c1 100644
--- a/py-sot-core-v3/Makefile
+++ b/py-sot-core-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-core
-VERSION=		4.8.1
+VERSION=		4.9.0
 
 PKGNAME=		${PKGTAG.python-}${NAME}-v3-${VERSION}
 
@@ -23,6 +23,8 @@ include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
 include ../../math/py-pinocchio/depend.mk
 include ../../path/hpp-fcl/depend.mk
+include ../../robots/example-robot-data/depend.mk
+include ../../robots/py-example-robot-data/depend.mk
 include ../../mapping/octomap/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../wip/py-dynamic-graph-v3/depend.mk
diff --git a/py-sot-core-v3/PLIST b/py-sot-core-v3/PLIST
index ab94e04f2710092695ba4688caa62bda1167f2ce..fe85386a845a92017aa6b29a2f236f7d8e0b6045 100644
--- a/py-sot-core-v3/PLIST
+++ b/py-sot-core-v3/PLIST
@@ -1,6 +1,8 @@
 @comment Fri Jul 13 12:13:49 CEST 2018
 ${PYTHON_SITELIB}/dynamic_graph/sot/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/core/admittance_control_op_point/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/core/admittance_control_op_point/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/binary_int_to_uint/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/binary_int_to_uint/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/clamp_workspace/__init__.py
diff --git a/py-sot-core-v3/distinfo b/py-sot-core-v3/distinfo
index c3b589d9821d37ecfe3b902d6f66e5ed34d757ef..4207bd7924bf78501eb0f72237d0cfb655af22a8 100644
--- a/py-sot-core-v3/distinfo
+++ b/py-sot-core-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-core-4.8.1.tar.gz) = 54077a666ed76f984502f3aadb3fd16365916eb3
-RMD160 (sot-core-4.8.1.tar.gz) = 77769d17eac2b2326b0ab219f621fb319dff76f6
-Size (sot-core-4.8.1.tar.gz) = 1120970 bytes
+SHA1 (sot-core-4.9.0.tar.gz) = cde662cf7a7fa646d7b560951d0a4bfdc8056c1e
+RMD160 (sot-core-4.9.0.tar.gz) = 9901365103905fd02ae4227a9036b8deb7ccfb13
+Size (sot-core-4.9.0.tar.gz) = 1102006 bytes
diff --git a/sot-core-v3/Makefile b/sot-core-v3/Makefile
index ee288a3e45e2cbad97a67a09c84abddcea12c83a..0b26e150f539166f12e3659fa54aa4252620e7ef 100644
--- a/sot-core-v3/Makefile
+++ b/sot-core-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-core
-VERSION=		4.8.1
+VERSION=		4.9.0
 
 PKGNAME=		${NAME}-v3-${VERSION}
 
@@ -24,6 +24,7 @@ include ../../path/hpp-fcl/depend.mk
 include ../../mapping/octomap/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
+include ../../robots/example-robot-data/depend.mk
 include ../../mk/sysdep/cmake.mk
 include ../../mk/sysdep/doxygen.mk
 include ../../mk/sysdep/graphviz.mk
diff --git a/sot-core-v3/PLIST b/sot-core-v3/PLIST
index fb07da3be4ad290e2741eb04e06bd1fc32801b5d..2dbdc81013af92309ce07c5a53cf732439d3edbe 100644
--- a/sot-core-v3/PLIST
+++ b/sot-core-v3/PLIST
@@ -88,6 +88,8 @@ lib/cmake/sot-core/sot-coreConfig.cmake
 lib/cmake/sot-core/sot-coreConfigVersion.cmake
 lib/cmake/sot-core/sot-coreTargets-release.cmake
 lib/cmake/sot-core/sot-coreTargets.cmake
+lib/dynamic-graph-plugins/libadmittance-control-op-point.so
+lib/dynamic-graph-plugins/libadmittance-control-op-point.so.${PKGVERSION}
 lib/dynamic-graph-plugins/libbinary-int-to-uint.so
 lib/dynamic-graph-plugins/libbinary-int-to-uint.so.${PKGVERSION}
 lib/dynamic-graph-plugins/libclamp-workspace.so
diff --git a/sot-core-v3/distinfo b/sot-core-v3/distinfo
index c3b589d9821d37ecfe3b902d6f66e5ed34d757ef..4207bd7924bf78501eb0f72237d0cfb655af22a8 100644
--- a/sot-core-v3/distinfo
+++ b/sot-core-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-core-4.8.1.tar.gz) = 54077a666ed76f984502f3aadb3fd16365916eb3
-RMD160 (sot-core-4.8.1.tar.gz) = 77769d17eac2b2326b0ab219f621fb319dff76f6
-Size (sot-core-4.8.1.tar.gz) = 1120970 bytes
+SHA1 (sot-core-4.9.0.tar.gz) = cde662cf7a7fa646d7b560951d0a4bfdc8056c1e
+RMD160 (sot-core-4.9.0.tar.gz) = 9901365103905fd02ae4227a9036b8deb7ccfb13
+Size (sot-core-4.9.0.tar.gz) = 1102006 bytes