diff --git a/sot-pattern-generator-v3/Makefile b/sot-pattern-generator-v3/Makefile
index 75da5cea112b3f6fe9206e64cf88570dc2163017..c0ef9109c95c63962a9bc19b123d6ddded097b2e 100644
--- a/sot-pattern-generator-v3/Makefile
+++ b/sot-pattern-generator-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-pattern-generator
-VERSION=		3.1.0
+VERSION=		3.2.0
 
 DISTNAME=		${NAME}-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
@@ -25,7 +25,7 @@ CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
 
 DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
 
-DEPEND_ABI.pinocchio=	pinocchio<2
+DEPEND_ABI.pinocchio=	pinocchio>2
 
 include ../../devel/boost-headers/depend.mk
 include ../../devel/boost-libs/depend.mk
diff --git a/sot-pattern-generator-v3/distinfo b/sot-pattern-generator-v3/distinfo
index dc30cda3477a0c3b972d87858f0bec514e2301f0..22f8db24909d8201209b03c03243f220e23ca0a1 100644
--- a/sot-pattern-generator-v3/distinfo
+++ b/sot-pattern-generator-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-pattern-generator-3.1.0.tar.gz) = dde74b7fe668b2d1ed0a6b2249f8de8caccef32f
-RMD160 (sot-pattern-generator-3.1.0.tar.gz) = 6463c19039fe6bfa0d2e2b784da3bec7eb083c02
-Size (sot-pattern-generator-3.1.0.tar.gz) = 840593 bytes
+SHA1 (sot-pattern-generator-3.2.0.tar.gz) = 999481265d195ec5b69139fafbca3f664956f0d0
+RMD160 (sot-pattern-generator-3.2.0.tar.gz) = 4dadeabb1a197733b15ac983a8cf3857e21a74ec
+Size (sot-pattern-generator-3.2.0.tar.gz) = 852965 bytes