diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index dcfca7a296c92f480cfd4af986204ecadccd59e9..abd9c5c0e084102597d80b144c58f5e7658bbb80 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -3,16 +3,18 @@
 #
 
 VERSION=		3.1.0
+PKGREVISION=		1
 DISTNAME=		sot-dynamic-pinocchio-v3-${VERSION}
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
 MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}proyan/sot-dynamic/tree/topic/sot-pinocchio
 
+
 MAINTAINER=	gepetto@laas.fr
 CATEGORIES=	wip
 LICENSE=	gnu-lgpl-v3
 COMMENT=	Create entities to compute a robot dynamics properties
 
-DYNAMIC_PLIST_DIRS+=	share/doc/sot-dynamic-pinocchio-v3
+DYNAMIC_PLIST_DIRS+=	share/doc/sot-dynamic
 CMAKE_ARGS+=		-DPYTHON_SITELIB=${PYTHON_SITELIB}
 CMAKE_ARGS+=		-DPYTHON_INCLUDE_PATH=${PYTHON_INCLUDE}
 CMAKE_ARGS+=		-DPYTHON_LIBRARY=${PYTHON_LIB}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index c36f535acf9d898fd2f5355d70c6560d05be8cb0..1d8accfc017367d1b9fe4dffd8ff9be2085dbc79 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-dynamic-pinocchio-v3-3.1.0.tar.gz) = d080f073c2a7240ab8f933b1054621ea1315d804
 RMD160 (sot-dynamic-pinocchio-v3-3.1.0.tar.gz) = e591c1cf125ce437eb7b0f04069d2e190320378a
 Size (sot-dynamic-pinocchio-v3-3.1.0.tar.gz) = 171868 bytes
+SHA1 (patch-aa) = 8ae702caa5ffd271dd14c148f8e27d8a33d5e382
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-aa b/sot-dynamic-pinocchio-v3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..43183b7360b5354af177e66ecf950bd351e19e13
--- /dev/null
+++ b/sot-dynamic-pinocchio-v3/patches/patch-aa
@@ -0,0 +1,13 @@
+diff --git unitTesting/CMakeLists.txt unitTesting/CMakeLists.txt
+index af2cdb9..f9b4595 100644
+--- unitTesting/CMakeLists.txt
++++ unitTesting/CMakeLists.txt
+@@ -59,7 +59,7 @@ FOREACH(test ${tests})
+   TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+     zmpreffromcom
+     force-compensation
+-    integrator-force-exact
++    #integrator-force-exact
+     mass-apparent
+     integrator-force-rk4
+     integrator-force