diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index 979a0bc0c0df0246208f9cfecd07f2b1a3ee129e..7b7b02caee067b562c0ae6761a7fff40fd1e69ff 100644
--- a/py-sot-dynamic-pinocchio-v3/Makefile
+++ b/py-sot-dynamic-pinocchio-v3/Makefile
@@ -4,8 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-dynamic-pinocchio
-VERSION=		3.2.2
-PKGREVISION=		1
+VERSION=		3.2.3
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${PKGTAG.python-}${NAME}-v3-${VERSION}
diff --git a/py-sot-dynamic-pinocchio-v3/distinfo b/py-sot-dynamic-pinocchio-v3/distinfo
index 3c485dcf2aa94d18e6dfab1dff82880c1d673b9c..114a23149f9630340906945b5e4755d37bceb6a1 100644
--- a/py-sot-dynamic-pinocchio-v3/distinfo
+++ b/py-sot-dynamic-pinocchio-v3/distinfo
@@ -1,5 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.2.2.tar.gz) = 594aa30aa63f780dc10d83bda731b5dd6ca313d5
-RMD160 (sot-dynamic-pinocchio-v3-3.2.2.tar.gz) = ae594fa02a36591ebdd84839679c8989354a0250
-Size (sot-dynamic-pinocchio-v3-3.2.2.tar.gz) = 859581 bytes
-SHA1 (patch-aa) = 485f513ca5bb245452745a546d77ebd8a3497836
-SHA1 (patch-ab) = c041161979d98b4380ed62ae4990184aead6331b
+SHA1 (sot-dynamic-pinocchio-v3-3.2.3.tar.gz) = 6e436482d1874e639ac8c93482c7fdbc4f9ac5e9
+RMD160 (sot-dynamic-pinocchio-v3-3.2.3.tar.gz) = 9352bd32c67acf21c83db959ce9b709d47a210f4
+Size (sot-dynamic-pinocchio-v3-3.2.3.tar.gz) = 861227 bytes
diff --git a/py-sot-dynamic-pinocchio-v3/patches/patch-aa b/py-sot-dynamic-pinocchio-v3/patches/patch-aa
deleted file mode 100644
index 9c5f6bab0610c1c2da25d655fea2e003dc9c3741..0000000000000000000000000000000000000000
--- a/py-sot-dynamic-pinocchio-v3/patches/patch-aa
+++ /dev/null
@@ -1,21 +0,0 @@
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -42,7 +42,6 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
- 
- SETUP_PROJECT()
- # Search for dependencies.
--ADD_REQUIRED_DEPENDENCY("eigenpy")
- ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
- ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
- ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
-@@ -56,6 +55,7 @@ IF(BUILD_PYTHON_INTERFACE)
-   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
-   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
-   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-+  ADD_REQUIRED_DEPENDENCY("eigenpy")
- ENDIF(BUILD_PYTHON_INTERFACE)
- 
- 
--- 
-2.7.4
-
diff --git a/py-sot-dynamic-pinocchio-v3/patches/patch-ab b/py-sot-dynamic-pinocchio-v3/patches/patch-ab
deleted file mode 100644
index 647a4eab9596efb38da03c013f16ccaba9b0f99d..0000000000000000000000000000000000000000
--- a/py-sot-dynamic-pinocchio-v3/patches/patch-ab
+++ /dev/null
@@ -1,16 +0,0 @@
---- src/CMakeLists.txt
-+++ src/CMakeLists.txt
-@@ -43,7 +43,9 @@ FOREACH(lib ${plugins})
-   TARGET_LINK_LIBRARIES(${libname} ${Boost_LIBRARIES})
- 
-   PKG_CONFIG_USE_DEPENDENCY(${libname} pinocchio)
--  PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
-+  IF(BUILD_PYTHON_INTERFACE)
-+    PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
-+  ENDIF(BUILD_PYTHON_INTERFACE)
-   PKG_CONFIG_USE_DEPENDENCY(${libname} sot-core)
-   PKG_CONFIG_USE_DEPENDENCY(${libname} dynamic-graph)
- 
--- 
-2.7.4
-