diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index 39cd262f6e8c772cbeba322e46c7c2d24a4460d2..0a64aa42ad534acddb2fb4a70ed4164ad5c58505 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=		3.3.1
+VERSION=		3.4.0
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${PKGTAG.python-}${NAME}-v3-${VERSION}
diff --git a/py-sot-dynamic-pinocchio-v3/PLIST b/py-sot-dynamic-pinocchio-v3/PLIST
index 30f724de2f3cc3d5063222b081ccd76363655d52..6948eda5f239718be3c8a74055fe99e4d8ff505b 100644
--- a/py-sot-dynamic-pinocchio-v3/PLIST
+++ b/py-sot-dynamic-pinocchio-v3/PLIST
@@ -1,27 +1,27 @@
 @comment Fri Dec 6 09:25:38 CET 2013
 ${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${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/parser.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/tools.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/wrap.so
 ${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo.py
 ${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo_small.py
diff --git a/py-sot-dynamic-pinocchio-v3/distinfo b/py-sot-dynamic-pinocchio-v3/distinfo
index 5ca10987aa46e7148f79e2f40c482d89c7a28141..e2b5d07f407ce92be116523f38110fce8c21112f 100644
--- a/py-sot-dynamic-pinocchio-v3/distinfo
+++ b/py-sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.3.1.tar.gz) = ad97bc4f1ef8f6d9b14961692757dd2e79b82757
-RMD160 (sot-dynamic-pinocchio-v3-3.3.1.tar.gz) = 8852fbb3c6329cad45b07db79817a7146e45f810
-Size (sot-dynamic-pinocchio-v3-3.3.1.tar.gz) = 863654 bytes
+SHA1 (sot-dynamic-pinocchio-v3-3.4.0.tar.gz) = 46f9ac63734266bde807f46a5da21157c0e5cc49
+RMD160 (sot-dynamic-pinocchio-v3-3.4.0.tar.gz) = eb6251dc22f9c8e5b96ae255d47a65e03c5e57ef
+Size (sot-dynamic-pinocchio-v3-3.4.0.tar.gz) = 864374 bytes
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index b617709b1c3347650d240177efa78de51fda9d1e..7d897904b9912e667e9297f284b57f88f8500f3e 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=		3.3.1
+VERSION=		3.4.0
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 5ca10987aa46e7148f79e2f40c482d89c7a28141..e2b5d07f407ce92be116523f38110fce8c21112f 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.3.1.tar.gz) = ad97bc4f1ef8f6d9b14961692757dd2e79b82757
-RMD160 (sot-dynamic-pinocchio-v3-3.3.1.tar.gz) = 8852fbb3c6329cad45b07db79817a7146e45f810
-Size (sot-dynamic-pinocchio-v3-3.3.1.tar.gz) = 863654 bytes
+SHA1 (sot-dynamic-pinocchio-v3-3.4.0.tar.gz) = 46f9ac63734266bde807f46a5da21157c0e5cc49
+RMD160 (sot-dynamic-pinocchio-v3-3.4.0.tar.gz) = eb6251dc22f9c8e5b96ae255d47a65e03c5e57ef
+Size (sot-dynamic-pinocchio-v3-3.4.0.tar.gz) = 864374 bytes