diff --git a/py-sot-core-v3/depend.mk b/py-sot-core-v3/depend.mk
index 9d9c501bfb337e9338d7650a7f526345995f4d0c..aff90c403c018fae7a03e6992f3cda2f5a5079e4 100644
--- a/py-sot-core-v3/depend.mk
+++ b/py-sot-core-v3/depend.mk
@@ -18,7 +18,7 @@ SYSTEM_SEARCH.py-sot-core-v3=\
 
 DEPEND_USE+=		py-sot-core-v3
 
-DEPEND_ABI.py-sot-core-v3?=	${PKGTAG.python-}sot-core-v3>=4.0.0<5.0.0
+DEPEND_ABI.py-sot-core-v3?=	${PKGTAG.python-}sot-core-v3>=4.1.0<5.0.0
 DEPEND_DIR.py-sot-core-v3?=	../../wip/py-sot-core-v3
 
 endif # PY_SOT_CORE_V3_DEPEND_MK -------------------------------------------------
diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index 3533f55c821bd60358b393b112e6e89fede36bdd..78e4c93d8106e5e68166df3afc6b1b14c63ca17e 100644
--- a/py-sot-dynamic-pinocchio-v3/Makefile
+++ b/py-sot-dynamic-pinocchio-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-dynamic-pinocchio
-VERSION=		3.2.5
+VERSION=		3.3.0
 
 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 7b288a718f8301505e8b262f97ea1d6b0dbf1603..f86b34d26f50102bce59dda970b156420460995b 100644
--- a/py-sot-dynamic-pinocchio-v3/distinfo
+++ b/py-sot-dynamic-pinocchio-v3/distinfo
@@ -1,4 +1,4 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.2.5.tar.gz) = 18b53d670b18527c103cbde10b469c4bfffa44c0
-RMD160 (sot-dynamic-pinocchio-v3-3.2.5.tar.gz) = b06a3c1b458589ec4250050c8e1a37cc7ca234c7
-Size (sot-dynamic-pinocchio-v3-3.2.5.tar.gz) = 862719 bytes
+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-aa) = 610e74d5c682045ec67675cc77536b4cdfa3f214
diff --git a/sot-core-v3/depend.mk b/sot-core-v3/depend.mk
index 0561f04a7c5074c17ae6509f546bee069777e856..c814c2e7265367bf960dfebb384dc596dc1d574c 100644
--- a/sot-core-v3/depend.mk
+++ b/sot-core-v3/depend.mk
@@ -20,7 +20,7 @@ SYSTEM_SEARCH.sot-core-v3=\
 
 DEPEND_USE+=		sot-core-v3
 
-DEPEND_ABI.sot-core-v3?=	sot-core-v3>=4.0.0<5.0.0
+DEPEND_ABI.sot-core-v3?=	sot-core-v3>=4.1.0<5.0.0
 DEPEND_DIR.sot-core-v3?=	../../wip/sot-core-v3
 
 endif # SOT_CORE_DEPEND_MK -------------------------------------------------
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index c567e67c29b89cfe9b0bc527ddbfde406d1bd955..d5879af929415e9974af7eca145105ddf02f8817 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			sot-dynamic-pinocchio
-VERSION=		3.2.5
+VERSION=		3.3.0
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 807bde2295ceea26c6767bb2e3ec72acc08a203d..104c0f729305b71cbb492d7099bed62bcffefff5 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.2.5.tar.gz) = 18b53d670b18527c103cbde10b469c4bfffa44c0
-RMD160 (sot-dynamic-pinocchio-v3-3.2.5.tar.gz) = b06a3c1b458589ec4250050c8e1a37cc7ca234c7
-Size (sot-dynamic-pinocchio-v3-3.2.5.tar.gz) = 862719 bytes
+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