diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index ebb5586329429dac4ba8edadf0e5583fbd8bf8c5..d49adcec991c69ac7d45bb88803ecc68d145c9d0 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=		3.2.3
+VERSION=		3.2.4
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 114a23149f9630340906945b5e4755d37bceb6a1..e3c2e280be461df4f8513e157dbba09ef174c11b 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.2.3.tar.gz) = 6e436482d1874e639ac8c93482c7fdbc4f9ac5e9
-RMD160 (sot-dynamic-pinocchio-v3-3.2.3.tar.gz) = 9352bd32c67acf21c83db959ce9b709d47a210f4
-Size (sot-dynamic-pinocchio-v3-3.2.3.tar.gz) = 861227 bytes
+SHA1 (sot-dynamic-pinocchio-v3-3.2.4.tar.gz) = a8f67a5775e08d25d8b5c35ec931114b763b7ec7
+RMD160 (sot-dynamic-pinocchio-v3-3.2.4.tar.gz) = 8a30c57a7d9aa0bb4d49874206e29093e53f23b8
+Size (sot-dynamic-pinocchio-v3-3.2.4.tar.gz) = 860812 bytes