diff --git a/math/pinocchio/Makefile b/math/pinocchio/Makefile
index b4ea8be42..88b106276 100644
--- a/math/pinocchio/Makefile
+++ b/math/pinocchio/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.2.0
+VERSION=		3.3.0
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics
diff --git a/math/pinocchio/PLIST b/math/pinocchio/PLIST
index 135a062e3..bc976aac3 100644
--- a/math/pinocchio/PLIST
+++ b/math/pinocchio/PLIST
@@ -201,6 +201,7 @@ include/pinocchio/bindings/python/utils/eigen.hpp
 include/pinocchio/bindings/python/utils/list.hpp
 include/pinocchio/bindings/python/utils/macros.hpp
 include/pinocchio/bindings/python/utils/namespace.hpp
+include/pinocchio/bindings/python/utils/path.hpp
 include/pinocchio/bindings/python/utils/pickle-map.hpp
 include/pinocchio/bindings/python/utils/pickle-vector.hpp
 include/pinocchio/bindings/python/utils/pickle.hpp
diff --git a/math/pinocchio/distinfo b/math/pinocchio/distinfo
index d361170a4..8033bf837 100644
--- a/math/pinocchio/distinfo
+++ b/math/pinocchio/distinfo
@@ -1,4 +1,4 @@
-SHA1 (pinocchio-3.2.0.tar.gz) = 01d46b7a1b64feb6874b8b173bb96b8283e100a8
-RMD160 (pinocchio-3.2.0.tar.gz) = 12e75cd4238297d0414daebb61f6c523441e2fec
-Size (pinocchio-3.2.0.tar.gz) = 101261496 bytes
+SHA1 (pinocchio-3.3.0.tar.gz) = 77a89c217c29b3c015854915ef35abaadd4f8e3a
+RMD160 (pinocchio-3.3.0.tar.gz) = 1e5a8adcd3d1155f958d559b3d0c113fe82dfeea
+Size (pinocchio-3.3.0.tar.gz) = 100959520 bytes
 SHA1 (patch-ao) = 82388cd763283a6d70581fdabcd1ae1035046ab8
diff --git a/math/py-pinocchio/Makefile b/math/py-pinocchio/Makefile
index 42a2de71d..8c319a78c 100644
--- a/math/py-pinocchio/Makefile
+++ b/math/py-pinocchio/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.2.0
+VERSION=		3.3.0
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics (python bindings)
diff --git a/math/py-pinocchio/PLIST b/math/py-pinocchio/PLIST
index ebf4210c2..a70e6a029 100644
--- a/math/py-pinocchio/PLIST
+++ b/math/py-pinocchio/PLIST
@@ -1,5 +1,4 @@
 @comment Wed Feb 19 17:48:17 CET 2020
-lib/pkgconfig/pinocchiopy.pc
 ${PYTHON_SITELIB}/pinocchio/__init__.py
 ${PYTHON_SITELIB}/pinocchio/casadi/__init__.py
 ${PYTHON_SITELIB}/pinocchio/deprecated.py
@@ -22,4 +21,5 @@ ${PYTHON_SITELIB}/pinocchio/visualize/gepetto_visualizer.py
 ${PYTHON_SITELIB}/pinocchio/visualize/meshcat_visualizer.py
 ${PYTHON_SITELIB}/pinocchio/visualize/panda3d_visualizer.py
 ${PYTHON_SITELIB}/pinocchio/visualize/rviz_visualizer.py
+${PYTHON_SITELIB}/pinocchio/visualize/visualizers.py
 ${PYTHON_SITELIB}/pinocchio/windows_dll_manager.py
diff --git a/math/py-pinocchio/distinfo b/math/py-pinocchio/distinfo
index 7288e873c..0c89b2310 100644
--- a/math/py-pinocchio/distinfo
+++ b/math/py-pinocchio/distinfo
@@ -1,7 +1,7 @@
-SHA1 (pinocchio-3.2.0.tar.gz) = 01d46b7a1b64feb6874b8b173bb96b8283e100a8
-RMD160 (pinocchio-3.2.0.tar.gz) = 12e75cd4238297d0414daebb61f6c523441e2fec
-Size (pinocchio-3.2.0.tar.gz) = 101261496 bytes
+SHA1 (pinocchio-3.3.0.tar.gz) = 77a89c217c29b3c015854915ef35abaadd4f8e3a
+RMD160 (pinocchio-3.3.0.tar.gz) = 1e5a8adcd3d1155f958d559b3d0c113fe82dfeea
+Size (pinocchio-3.3.0.tar.gz) = 100959520 bytes
 SHA1 (patch-ag) = 35b62ca6bd5676f51a5bef1d4a98c74113ca6a03
 SHA1 (patch-ah) = 365652d212fc8b2e82c7fee33818d08541491893
-SHA1 (patch-ak) = 73bff9b8278abb37c761375b4120b9f93edf9226
+SHA1 (patch-ak) = 1b574fd9ee9107009a8d23b9ce9f94bac356bff4
 SHA1 (patch-al) = 35d232f6e5f416848aa5f7444c882bb3ddddea04
diff --git a/math/py-pinocchio/patches/patch-ak b/math/py-pinocchio/patches/patch-ak
index d8911dcee..832cf6798 100644
--- a/math/py-pinocchio/patches/patch-ak
+++ b/math/py-pinocchio/patches/patch-ak
@@ -30,3 +30,20 @@ Don't install files already installed by pinocchio
 -        DESTINATION share/${PROJECT_NAME}/hook)
 -
  setup_project_finalize()
+--- bindings/python/CMakeLists.txt.orig	2024-11-06 15:13:21.000000000 +0100
++++ bindings/python/CMakeLists.txt	2024-11-08 12:38:28.368329997 +0100
+@@ -290,14 +290,6 @@
+     set(_PKG_CONFIG_PYWRAP_CFLAGS "${_PKG_CONFIG_PYWRAP_CFLAGS} ${cflags}")
+   endforeach()
+ 
+-  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/pinocchiopy.pc.cmake"
+-                 "${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc")
+-
+-  install(
+-    FILES "${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc"
+-    DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+-
+   if(DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER 1.8.17)
+     set(DOXYGEN_GENERATE_HTML YES)
+     set(DOXYGEN_GENERATE_LATEX NO)