diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 7ee508ed721c2902e946ba698b5376824de6d2fc..34849b16c4b115a40899e12e30e0098e2a4e43f9 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -3,6 +3,7 @@
 #
 
 VERSION=		3.1.5
+PKGNAME=		sot-dynamic-pinocchio-v3-${VERSION}
 DISTNAME=		sot-dynamic-pinocchio-v3-${VERSION}c
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
 MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-dynamic-pinocchio/
diff --git a/sot-dynamic-pinocchio-v3/PLIST b/sot-dynamic-pinocchio-v3/PLIST
index f45a46a50d9c6832633aa3fd1efc8a1b54bd2a11..43e87b4bb393e547867af42f6287abe876113c45 100644
--- a/sot-dynamic-pinocchio-v3/PLIST
+++ b/sot-dynamic-pinocchio-v3/PLIST
@@ -15,25 +15,25 @@ include/sot-dynamic-pinocchio/zmpreffromcom.h
 lib/libsot-dynamic-pinocchio.so
 lib/pkgconfig/sot-dynamic-pinocchio.pc
 lib/plugin/dp-angle-estimator.so
-lib/plugin/dp-angle-estimator.so.3.1.5
+lib/plugin/dp-angle-estimator.so.${PKGVERSION}
 lib/plugin/dp-dynamic.so
-lib/plugin/dp-dynamic.so.3.1.5
+lib/plugin/dp-dynamic.so.${PKGVERSION}
 lib/plugin/dp-force-compensation.so
-lib/plugin/dp-force-compensation.so.3.1.5
+lib/plugin/dp-force-compensation.so.${PKGVERSION}
 lib/plugin/dp-integrator-force-exact.so
-lib/plugin/dp-integrator-force-exact.so.3.1.5
+lib/plugin/dp-integrator-force-exact.so.${PKGVERSION}
 lib/plugin/dp-integrator-force-rk4.so
-lib/plugin/dp-integrator-force-rk4.so.3.1.5
+lib/plugin/dp-integrator-force-rk4.so.${PKGVERSION}
 lib/plugin/dp-integrator-force.so
-lib/plugin/dp-integrator-force.so.3.1.5
+lib/plugin/dp-integrator-force.so.${PKGVERSION}
 lib/plugin/dp-mass-apparent.so
-lib/plugin/dp-mass-apparent.so.3.1.5
+lib/plugin/dp-mass-apparent.so.${PKGVERSION}
 lib/plugin/dp-waist-attitude-from-sensor.so
-lib/plugin/dp-waist-attitude-from-sensor.so.3.1.5
+lib/plugin/dp-waist-attitude-from-sensor.so.${PKGVERSION}
 lib/plugin/dp-zmp-from-forces.so
-lib/plugin/dp-zmp-from-forces.so.3.1.5
+lib/plugin/dp-zmp-from-forces.so.${PKGVERSION}
 lib/plugin/dp-zmpreffromcom.so
-lib/plugin/dp-zmpreffromcom.so.3.1.5
+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