diff --git a/talos-data/Makefile b/talos-data/Makefile
index 1d48fdb601fda998a02785a1561fa893bcdf61bb..fb30dc801484e56a47575b1c76bbc951d4954782 100644
--- a/talos-data/Makefile
+++ b/talos-data/Makefile
@@ -5,7 +5,7 @@
 ORG=			pyrene-dev
 NAME=			talos-data
 VERSION=		0.0.21
-PKGREVISION=		2
+PKGREVISION=		3
 
 ROSNAME=		$(subst -,_,${NAME})
 PKGNAME=		${NAME}-${VERSION}
diff --git a/talos-data/distinfo b/talos-data/distinfo
index 2a2f5fc4f7bd749703e0b9c5772ca70c58293329..5e1f47b87da462f18cc299f8b6864cde332e6bd9 100644
--- a/talos-data/distinfo
+++ b/talos-data/distinfo
@@ -1,3 +1,4 @@
 SHA1 (talos_data-0.0.21.tar.gz) = d70c1ab7ab210586c705b2972a33a122e326ff5c
 RMD160 (talos_data-0.0.21.tar.gz) = b1903428320bd438b462f67b813ae6b1c3239793
 Size (talos_data-0.0.21.tar.gz) = 8767450 bytes
+SHA1 (patch-aa) = 9dccb495bcafae72f5f8cb35945510aa1aa23d33
diff --git a/talos-data/patches/patch-aa b/talos-data/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..071376a9b76ef7794c6c33a2896c31d61424c0f0
--- /dev/null
+++ b/talos-data/patches/patch-aa
@@ -0,0 +1,24 @@
+From 720a82c779196845ff7002a582ba5bd90682a1f3 Mon Sep 17 00:00:00 2001
+From: Rohan Budhiraja <proyan@users.noreply.github.com>
+Date: Mon, 28 Jan 2019 15:11:45 +0100
+Subject: [PATCH] [srdf] Add joint state value for the root joint.
+
+---
+ srdf/talos.srdf | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/srdf/talos.srdf b/srdf/talos.srdf
+index 331da50..a579ef3 100644
+--- a/srdf/talos.srdf
++++ b/srdf/talos.srdf
+@@ -129,6 +129,7 @@
+ 
+     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+     <group_state name="half_sitting" group="all">
++        <joint name="root_joint" value="0. 0. 1.01927 0. 0. 0. 1." />
+         <joint name="arm_left_1_joint" value="0.25847" />
+         <joint name="arm_left_2_joint" value="0.173046" />
+         <joint name="arm_left_3_joint" value="-0.0002" />
+-- 
+2.7.4
+