diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index 5367f92b57b125f18d659992d24bd664e789ac4e..a07015197ceed3349c345229cbe9de8bfd1e3178 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=		3.4.5
+VERSION=		3.5.0
 
 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 a1f564f6fd1d31d15c0094c18fb67c368feda0cd..02756a683e268d41af410c9af90301ffe0cb6bf7 100644
--- a/py-sot-dynamic-pinocchio-v3/PLIST
+++ b/py-sot-dynamic-pinocchio-v3/PLIST
@@ -17,7 +17,6 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/kine_romeo.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/kine_romeo_small.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/mass_apparent/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/mass_apparent/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/parser.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/tools.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/waist_attitude_from_sensor/__init__.py
 ${PYTHON_SITELIB}/dynamic_graph/sot/dynamic_pinocchio/waist_attitude_from_sensor/wrap.so
diff --git a/py-sot-dynamic-pinocchio-v3/distinfo b/py-sot-dynamic-pinocchio-v3/distinfo
index d61bdf83b86042781e202f346044fa53ec7ec695..1a54456a3de3f5e61ed706634e979c962b637f20 100644
--- a/py-sot-dynamic-pinocchio-v3/distinfo
+++ b/py-sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.4.5.tar.gz) = 6fc911d507639f4a039afdcd639c750107e79320
-RMD160 (sot-dynamic-pinocchio-v3-3.4.5.tar.gz) = 950fc8969480752bd5f5998de4568e8e3cc1ccba
-Size (sot-dynamic-pinocchio-v3-3.4.5.tar.gz) = 917364 bytes
+SHA1 (sot-dynamic-pinocchio-v3-3.5.0.tar.gz) = 517ea7d5d75c86962bf87fc324cd8abc7b598ca9
+RMD160 (sot-dynamic-pinocchio-v3-3.5.0.tar.gz) = f6641bb36994d2ff5010fc52f8c591a96a44ab6c
+Size (sot-dynamic-pinocchio-v3-3.5.0.tar.gz) = 890291 bytes
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 7ab3f087ff9f40ca44245752c7858c165e4fe6f1..099b58369f98407ce9da955be3215d8f44257e0f 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=		3.4.5
+VERSION=		3.5.0
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index d61bdf83b86042781e202f346044fa53ec7ec695..1a54456a3de3f5e61ed706634e979c962b637f20 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.4.5.tar.gz) = 6fc911d507639f4a039afdcd639c750107e79320
-RMD160 (sot-dynamic-pinocchio-v3-3.4.5.tar.gz) = 950fc8969480752bd5f5998de4568e8e3cc1ccba
-Size (sot-dynamic-pinocchio-v3-3.4.5.tar.gz) = 917364 bytes
+SHA1 (sot-dynamic-pinocchio-v3-3.5.0.tar.gz) = 517ea7d5d75c86962bf87fc324cd8abc7b598ca9
+RMD160 (sot-dynamic-pinocchio-v3-3.5.0.tar.gz) = f6641bb36994d2ff5010fc52f8c591a96a44ab6c
+Size (sot-dynamic-pinocchio-v3-3.5.0.tar.gz) = 890291 bytes