diff --git a/py-sot-core-v3/Makefile b/py-sot-core-v3/Makefile
index a9d41836ca0929c332c68ecdca2497538ddfb9b7..45bc88d36993b11ec7f5e0caf1f4327ae833fdd3 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=		4.11.3
+VERSION=		4.11.4
 
 PKGNAME=		${PKGTAG.python-}${NAME}-v3-${VERSION}
 
diff --git a/py-sot-core-v3/PLIST b/py-sot-core-v3/PLIST
index 3efbd48ce7618448c80c547d03c731975b60b28d..ea005330b7f341ecfef37337158043a2738e88d3 100644
--- a/py-sot-core-v3/PLIST
+++ b/py-sot-core-v3/PLIST
@@ -102,6 +102,8 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/core/robot_simu/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/robot_utils_sot_py.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/sequencer/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/sequencer/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/core/smooth_reach/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/core/smooth_reach/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/sot/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/sot/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/core/switch/__init__.py
diff --git a/py-sot-core-v3/distinfo b/py-sot-core-v3/distinfo
index 16d0a3da5f1a714fa7161d01e1c10b6c323c55e1..42a09b9d3e1822d356f4a48484c737d1a5930bf3 100644
--- a/py-sot-core-v3/distinfo
+++ b/py-sot-core-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-core-4.11.3.tar.gz) = eb0773de1f64ef7441754ac51fbddf77a09880ed
-RMD160 (sot-core-4.11.3.tar.gz) = 3f79150fc698e878ecf9a954b8cac185fdddf5e9
-Size (sot-core-4.11.3.tar.gz) = 1128160 bytes
+SHA1 (sot-core-4.11.4.tar.gz) = 624bf121ec29ea152c99c2683802afc4ddbe352a
+RMD160 (sot-core-4.11.4.tar.gz) = 41b997cfddfe8d93d09b072a2fd718cfd1353b87
+Size (sot-core-4.11.4.tar.gz) = 1128399 bytes
diff --git a/sot-core-v3/Makefile b/sot-core-v3/Makefile
index 2b4aaecec3a2dcc51e6e38e9d43769c1b007ff02..f00612b5d9cb6fc0b972549bceb116fe8a35cb81 100644
--- a/sot-core-v3/Makefile
+++ b/sot-core-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-core
-VERSION=		4.11.3
+VERSION=		4.11.4
 
 PKGNAME=		${NAME}-v3-${VERSION}
 
diff --git a/sot-core-v3/PLIST b/sot-core-v3/PLIST
index e0176e1294988b9da3e9b357d204ae0194912982..81a543ccec3e3764bca281de78d1fe3847b26565 100644
--- a/sot-core-v3/PLIST
+++ b/sot-core-v3/PLIST
@@ -178,6 +178,8 @@ lib/dynamic-graph-plugins/librobot-simu.so
 lib/dynamic-graph-plugins/librobot-simu.so.${PKGVERSION}
 lib/dynamic-graph-plugins/libsequencer.so
 lib/dynamic-graph-plugins/libsequencer.so.${PKGVERSION}
+lib/dynamic-graph-plugins/libsmooth-reach.so
+lib/dynamic-graph-plugins/libsmooth-reach.so.${PKGVERSION}
 lib/dynamic-graph-plugins/libsot.so
 lib/dynamic-graph-plugins/libsot.so.${PKGVERSION}
 lib/dynamic-graph-plugins/libswitch.so
diff --git a/sot-core-v3/distinfo b/sot-core-v3/distinfo
index 16d0a3da5f1a714fa7161d01e1c10b6c323c55e1..42a09b9d3e1822d356f4a48484c737d1a5930bf3 100644
--- a/sot-core-v3/distinfo
+++ b/sot-core-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-core-4.11.3.tar.gz) = eb0773de1f64ef7441754ac51fbddf77a09880ed
-RMD160 (sot-core-4.11.3.tar.gz) = 3f79150fc698e878ecf9a954b8cac185fdddf5e9
-Size (sot-core-4.11.3.tar.gz) = 1128160 bytes
+SHA1 (sot-core-4.11.4.tar.gz) = 624bf121ec29ea152c99c2683802afc4ddbe352a
+RMD160 (sot-core-4.11.4.tar.gz) = 41b997cfddfe8d93d09b072a2fd718cfd1353b87
+Size (sot-core-4.11.4.tar.gz) = 1128399 bytes