diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index ded3864eaf41464e37c2362dafa5892227da301c..6571957dae551c427105b60cadffb39536462cd3 100644
--- a/py-sot-dynamic-pinocchio-v3/Makefile
+++ b/py-sot-dynamic-pinocchio-v3/Makefile
@@ -5,6 +5,7 @@
 ORG=			stack-of-tasks
 NAME=			sot-dynamic-pinocchio
 VERSION=		3.3.0
+PKGREVISION=	1
 
 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 00a39a40f96d93f65dd675291ffbed4d11efefe7..fa5312c74b040ea549afe4d171749fc015df8d7b 100644
--- a/py-sot-dynamic-pinocchio-v3/distinfo
+++ b/py-sot-dynamic-pinocchio-v3/distinfo
@@ -3,4 +3,5 @@ RMD160 (sot-dynamic-pinocchio-v3-3.3.0.tar.gz) = 429e8eac320fee3e51d8e0e94d3f471
 Size (sot-dynamic-pinocchio-v3-3.3.0.tar.gz) = 862834 bytes
 SHA1 (patch-aa) = 610e74d5c682045ec67675cc77536b4cdfa3f214
 SHA1 (patch-ab) = 65531cbbc1ea697e9f4f63f864fd811a99e955ae
+SHA1 (patch-ac) = 1ed2bed5622b342b3ddcf1530421caf7e7eb65ef
 SHA1 (patch-ad) = 9731f90f2c33abec026a1d34cfaa653316b84427
diff --git a/py-sot-dynamic-pinocchio-v3/patches/patch-ac b/py-sot-dynamic-pinocchio-v3/patches/patch-ac
new file mode 100644
index 0000000000000000000000000000000000000000..9f8b362f81103cf343445d684114b3d047745ed8
--- /dev/null
+++ b/py-sot-dynamic-pinocchio-v3/patches/patch-ac
@@ -0,0 +1,24 @@
+From 1c39cd22d6e93122c0d2e55b25852b5a5df78e2a Mon Sep 17 00:00:00 2001
+From: Olivier Stasse <ostasse@laas.fr>
+Date: Fri, 1 Mar 2019 10:02:39 +0100
+Subject: [PATCH] [dynamic-pinocchio] Fix pb on computing AngularMomentum.
+
+---
+ src/sot-dynamic-pinocchio.cpp | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
+index 1c2b609..69935d0 100644
+--- src/sot-dynamic-pinocchio.cpp
++++ src/sot-dynamic-pinocchio.cpp
+@@ -987,7 +987,6 @@ computeAngularMomentum(dg::Vector & Momenta, const int& time)
+ 
+   if (Momenta.size()!=3)
+     Momenta.resize(3);
+-  return Momenta;
+   Momenta = m_data->hg.angular_impl();
+ 
+   sotDEBUGOUT(25) << "AngularMomenta :" << Momenta ;
+-- 
+2.21.0
+
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index d5879af929415e9974af7eca145105ddf02f8817..c6242c74f385d72efdb897f7e1136d1e55ebd8f9 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -5,6 +5,7 @@
 ORG=			stack-of-tasks
 NAME=			sot-dynamic-pinocchio
 VERSION=		3.3.0
+PKGREVISION=	1
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 104c0f729305b71cbb492d7099bed62bcffefff5..cb7da395ff04c24bfbf56f9419c218ae91eae7e1 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-dynamic-pinocchio-v3-3.3.0.tar.gz) = 387173261f4755de6821c29212dde1d3684bf4aa
 RMD160 (sot-dynamic-pinocchio-v3-3.3.0.tar.gz) = 429e8eac320fee3e51d8e0e94d3f471d9c36ecee
 Size (sot-dynamic-pinocchio-v3-3.3.0.tar.gz) = 862834 bytes
+SHA1 (patch-ac) = 1ed2bed5622b342b3ddcf1530421caf7e7eb65ef
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-ac b/sot-dynamic-pinocchio-v3/patches/patch-ac
new file mode 100644
index 0000000000000000000000000000000000000000..9f8b362f81103cf343445d684114b3d047745ed8
--- /dev/null
+++ b/sot-dynamic-pinocchio-v3/patches/patch-ac
@@ -0,0 +1,24 @@
+From 1c39cd22d6e93122c0d2e55b25852b5a5df78e2a Mon Sep 17 00:00:00 2001
+From: Olivier Stasse <ostasse@laas.fr>
+Date: Fri, 1 Mar 2019 10:02:39 +0100
+Subject: [PATCH] [dynamic-pinocchio] Fix pb on computing AngularMomentum.
+
+---
+ src/sot-dynamic-pinocchio.cpp | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
+index 1c2b609..69935d0 100644
+--- src/sot-dynamic-pinocchio.cpp
++++ src/sot-dynamic-pinocchio.cpp
+@@ -987,7 +987,6 @@ computeAngularMomentum(dg::Vector & Momenta, const int& time)
+ 
+   if (Momenta.size()!=3)
+     Momenta.resize(3);
+-  return Momenta;
+   Momenta = m_data->hg.angular_impl();
+ 
+   sotDEBUGOUT(25) << "AngularMomenta :" << Momenta ;
+-- 
+2.21.0
+