diff --git a/py-sot-dynamic-pinocchio-v3/Makefile b/py-sot-dynamic-pinocchio-v3/Makefile
index 0a64aa42ad534acddb2fb4a70ed4164ad5c58505..40d2461b6cd60e659172028142ab890ee66849be 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=		3.4.0
+VERSION=		3.4.1
 
 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 e2b5d07f407ce92be116523f38110fce8c21112f..99af9a065ecffae8d68adfa6d9ee2a852d68c9ee 100644
--- a/py-sot-dynamic-pinocchio-v3/distinfo
+++ b/py-sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.4.0.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
+SHA1 (sot-dynamic-pinocchio-v3-3.4.1.tar.gz) = 73a8bfbf44e04eb900f0e597dbafbf2590c4d6c0
+RMD160 (sot-dynamic-pinocchio-v3-3.4.1.tar.gz) = 0cdac4083c58ce34623cd70afcb3edd42740bd13
+Size (sot-dynamic-pinocchio-v3-3.4.1.tar.gz) = 884843 bytes
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 7d897904b9912e667e9297f284b57f88f8500f3e..0682beab6713153cfec0303daf8ede4db52209b6 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=		3.4.0
+VERSION=		3.4.1
 
 DISTNAME=		${NAME}-v3-${VERSION}
 PKGNAME=		${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index e2b5d07f407ce92be116523f38110fce8c21112f..99af9a065ecffae8d68adfa6d9ee2a852d68c9ee 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,3 +1,3 @@
-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
+SHA1 (sot-dynamic-pinocchio-v3-3.4.1.tar.gz) = 73a8bfbf44e04eb900f0e597dbafbf2590c4d6c0
+RMD160 (sot-dynamic-pinocchio-v3-3.4.1.tar.gz) = 0cdac4083c58ce34623cd70afcb3edd42740bd13
+Size (sot-dynamic-pinocchio-v3-3.4.1.tar.gz) = 884843 bytes