diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index d2516232a5872eb26f5a40e4f713a64e68c811ed..d664fc0564d516e87da56a4e479cd9d3b335b2b1 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -3,7 +3,7 @@
 #
 
 VERSION=		3.1.1
-# PKGREVISION=		2
+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/
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 40a658015e096470c873c289fe1c3f1a356c7e9b..c87b770b08a18866915384c9258b28316ac265fb 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -2,3 +2,4 @@ SHA1 (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = e715bffba1a6d2d973243862a6e473ca5
 RMD160 (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = beddcd9fae060cbf371b80075978e200da88a581
 Size (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = 922041 bytes
 SHA1 (patch-aa) = c57a914a6fc1140f348dec8c1cd2627c79a4de7d
+SHA1 (patch-ab) = 70878ef8071dfce1eddb895b35e3cdb4942a848f
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-ab b/sot-dynamic-pinocchio-v3/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..7d8e06e17c3f645b983290122af50efcb490cfb8
--- /dev/null
+++ b/sot-dynamic-pinocchio-v3/patches/patch-ab
@@ -0,0 +1,37 @@
+diff --git src/python-module-py.cpp src/python-module-py.cpp
+index 2525ae2..b0ed6d7 100644
+--- src/python-module-py.cpp
++++ src/python-module-py.cpp
+@@ -19,8 +19,8 @@
+ #include <typeinfo>
+ #include <cstdio>
+ #include <pinocchio/bindings/python/multibody/model.hpp>
+-#include <pinocchio/bindings/python/data.hpp>
+-#include <pinocchio/bindings/python/handler.hpp>
++#include <pinocchio/bindings/python/multibody/data.hpp>
++#include <pinocchio/bindings/python/utils/handler.hpp>
+ 
+ 
+ namespace dynamicgraph{
+@@ -87,8 +87,8 @@ namespace dynamicgraph{
+       Dynamic* dyn_entity = (Dynamic*) pointer1;
+ 
+       try {
+-	se3::python::ModelHandler cppModelHandle = 
+-	  boost::python::extract<se3::python::ModelHandler>(pyPinocchioObject);
++	se3::python::Handler<se3::Model> cppModelHandle = 
++	  boost::python::extract< se3::python::Handler<se3::Model> >(pyPinocchioObject);
+ 	dyn_entity->setModel(cppModelHandle.ptr());
+ 	//dyn_entity->m_model = cppModelHandle.ptr();
+       }
+@@ -127,8 +127,8 @@ namespace dynamicgraph{
+       Dynamic* dyn_entity = (Dynamic*) pointer1;
+ 
+       try {
+-	se3::python::DataHandler cppDataHandle = 
+-	  boost::python::extract<se3::python::DataHandler>(pyPinocchioObject);
++	se3::python::Handler<se3::Data> cppDataHandle = 
++	  boost::python::extract< se3::python::Handler<se3::Data> >(pyPinocchioObject);
+ 	dyn_entity->setData(cppDataHandle.ptr());
+ 	//dyn_entity->m_data = cppDataHandle.ptr();
+       }