diff --git a/math/pinocchio/Makefile b/math/pinocchio/Makefile
index 88b106276..4324eff00 100644
--- a/math/pinocchio/Makefile
+++ b/math/pinocchio/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.3.0
+VERSION=		3.3.1
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics
diff --git a/math/pinocchio/distinfo b/math/pinocchio/distinfo
index 8033bf837..b748403bf 100644
--- a/math/pinocchio/distinfo
+++ b/math/pinocchio/distinfo
@@ -1,4 +1,4 @@
-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 (pinocchio-3.3.1.tar.gz) = 570f1175bd913a53ffa96f0bb5af7bb1d0409301
+RMD160 (pinocchio-3.3.1.tar.gz) = 55e6a5e92939662ddc85124554860bbe3d4ddc4f
+Size (pinocchio-3.3.1.tar.gz) = 100953407 bytes
 SHA1 (patch-ao) = 82388cd763283a6d70581fdabcd1ae1035046ab8
diff --git a/math/py-pinocchio/Makefile b/math/py-pinocchio/Makefile
index 8c319a78c..00c4c7a06 100644
--- a/math/py-pinocchio/Makefile
+++ b/math/py-pinocchio/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			stack-of-tasks
 NAME=			pinocchio
-VERSION=		3.3.0
+VERSION=		3.3.1
 
 CATEGORIES=		math
 COMMENT=		Efficient rigid body dynamics (python bindings)
diff --git a/math/py-pinocchio/distinfo b/math/py-pinocchio/distinfo
index 0c89b2310..88e53989e 100644
--- a/math/py-pinocchio/distinfo
+++ b/math/py-pinocchio/distinfo
@@ -1,7 +1,7 @@
-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 (pinocchio-3.3.1.tar.gz) = 570f1175bd913a53ffa96f0bb5af7bb1d0409301
+RMD160 (pinocchio-3.3.1.tar.gz) = 55e6a5e92939662ddc85124554860bbe3d4ddc4f
+Size (pinocchio-3.3.1.tar.gz) = 100953407 bytes
+SHA1 (patch-ag) = b8373c27d76d50c91283e034420f879a9ebfef96
 SHA1 (patch-ah) = 365652d212fc8b2e82c7fee33818d08541491893
 SHA1 (patch-ak) = 1b574fd9ee9107009a8d23b9ce9f94bac356bff4
 SHA1 (patch-al) = 35d232f6e5f416848aa5f7444c882bb3ddddea04
diff --git a/math/py-pinocchio/patches/patch-ag b/math/py-pinocchio/patches/patch-ag
index 6fe7a0617..d8df9b227 100644
--- a/math/py-pinocchio/patches/patch-ag
+++ b/math/py-pinocchio/patches/patch-ag
@@ -1,8 +1,8 @@
 py-pinocchio needs pinocchio
 
---- CMakeLists.txt.orig	2024-08-27 16:45:25.000000000 +0000
-+++ CMakeLists.txt	2024-08-29 13:19:21.747133530 +0000
-@@ -192,6 +192,7 @@
+--- CMakeLists.txt.orig	2024-12-13 15:26:59.000000000 +0100
++++ CMakeLists.txt	2024-12-18 21:57:22.735116788 +0100
+@@ -211,6 +211,7 @@
  # ----------------------------------------------------
  set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/CppAD/" ${CMAKE_MODULE_PATH})
  add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
@@ -10,20 +10,20 @@ py-pinocchio needs pinocchio
  
  if(BUILD_WITH_URDF_SUPPORT)
    add_project_dependency(urdfdom_headers REQUIRED)
---- bindings/python/CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
-+++ bindings/python/CMakeLists.txt	2024-08-29 15:19:55.570423979 +0200
-@@ -75,7 +75,7 @@
+--- bindings/python/CMakeLists.txt.orig	2024-12-13 15:26:59.000000000 +0100
++++ bindings/python/CMakeLists.txt	2024-12-18 21:58:36.608002007 +0100
+@@ -84,7 +84,7 @@
      ${PYTHON_LIB_NAME}
      SCOPE PUBLIC
      TARGETS eigenpy::eigenpy)
 -  target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME})
-+    target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME})
++  target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME})
  
    if(BUILD_WITH_URDF_SUPPORT)
      # Link directly against console_bridge since we bind some enums and call
---- unittest/CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
-+++ unittest/CMakeLists.txt	2024-08-29 15:21:21.067157905 +0200
-@@ -71,26 +71,26 @@
+--- unittest/CMakeLists.txt.orig	2024-12-13 15:26:59.000000000 +0100
++++ unittest/CMakeLists.txt	2024-12-18 22:00:33.727302710 +0100
+@@ -72,30 +72,30 @@
    target_include_directories(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
  
    if(NOT unit_test_HEADER_ONLY)
@@ -31,33 +31,43 @@ py-pinocchio needs pinocchio
 +    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_default)
    endif()
  
-   if(unit_test_PARSERS OR (unit_test_PARSERS_OPTIONAL AND TARGET ${PROJECT_NAME}_parsers))
+-  if(unit_test_PARSERS OR (unit_test_PARSERS_OPTIONAL AND TARGET ${PROJECT_NAME}_parsers))
 -    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_parsers)
++  if(unit_test_PARSERS OR (unit_test_PARSERS_OPTIONAL AND TARGET ${PROJECT_NAME}::${PROJECT_NAME}_parsers))
 +    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_parsers)
    endif()
  
-   if(unit_test_PARALLEL OR (unit_test_PARALLEL_OPTIONAL AND TARGET ${PROJECT_NAME}_parallel))
+-  if(unit_test_PARALLEL OR (unit_test_PARALLEL_OPTIONAL AND TARGET ${PROJECT_NAME}_parallel))
 -    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_parallel)
++  if(unit_test_PARALLEL OR (unit_test_PARALLEL_OPTIONAL AND TARGET ${PROJECT_NAME}::${PROJECT_NAME}_parallel))
 +    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_parallel)
    endif()
  
-   if(unit_test_COLLISION OR (unit_test_COLLISION_OPTIONAL AND TARGET ${PROJECT_NAME}_collision))
+-  if(unit_test_COLLISION OR (unit_test_COLLISION_OPTIONAL AND TARGET ${PROJECT_NAME}_collision))
 -    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_collision)
-+    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_collision)
-     if(unit_test_PARALLE OR (unit_test_PARALLEL_OPTIONAL AND TARGET ${PROJECT_NAME}_parallel))
+-    if(unit_test_PARALLE OR (unit_test_PARALLEL_OPTIONAL AND TARGET ${PROJECT_NAME}_parallel))
 -      target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_collision_parallel)
++  if(unit_test_COLLISION OR (unit_test_COLLISION_OPTIONAL AND TARGET ${PROJECT_NAME}::${PROJECT_NAME}_collision))
++    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_collision)
++    if(unit_test_PARALLE OR (unit_test_PARALLEL_OPTIONAL AND TARGET ${PROJECT_NAME}::${PROJECT_NAME}_parallel))
 +      target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_collision_parallel)
      endif()
    endif()
  
-   if(unit_test_EXTRA OR (unit_test_EXTRA_OPTIONAL AND TARGET ${PROJECT_NAME}_extra))
+-  if(unit_test_EXTRA OR (unit_test_EXTRA_OPTIONAL AND TARGET ${PROJECT_NAME}_extra))
 -    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_extra)
++  if(unit_test_EXTRA OR (unit_test_EXTRA_OPTIONAL AND TARGET ${PROJECT_NAME}::${PROJECT_NAME}_extra))
 +    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_extra)
    endif()
  
-   modernize_target_link_libraries(
---- examples/CMakeLists.txt.orig	2024-08-27 18:45:25.000000000 +0200
-+++ examples/CMakeLists.txt	2024-08-29 15:22:20.099674281 +0200
+   if(unit_test_PYTHON_PARSER)
+-    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_python_parser)
++    target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}_python_parser)
+     add_windows_dll_path_to_test(${TEST_NAME})
+     get_test_property(${TEST_NAME} ENVIRONMENT ENV_VARIABLES)
+     compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python")
+--- examples/CMakeLists.txt.orig	2024-12-13 15:26:59.000000000 +0100
++++ examples/CMakeLists.txt	2024-12-18 22:01:17.227045938 +0100
 @@ -14,22 +14,22 @@
    get_filename_component(EXAMPLE_NAME ${EXAMPLE} NAME)
    set(EXAMPLE_NAME "${PROJECT_NAME}-example-cpp-${EXAMPLE_NAME}")