diff --git a/talos-data/Makefile b/talos-data/Makefile
index 970bbfe624acaef9b77150d807957d9255090e18..76a7890ef1693e46270834b78efa6a2a1810931c 100644
--- a/talos-data/Makefile
+++ b/talos-data/Makefile
@@ -4,8 +4,7 @@
ORG= pyrene-dev
NAME= talos-data
-VERSION= 0.0.21
-PKGREVISION= 3
+VERSION= 0.0.22
ROSNAME= $(subst -,_,${NAME})
PKGNAME= ${NAME}-${VERSION}
diff --git a/talos-data/PLIST b/talos-data/PLIST
index 7a8448f36ecd09bb4118e647bd66817f0494dcf9..67e8669f2025276ab7f8fec3f207fecc26cb9452 100644
--- a/talos-data/PLIST
+++ b/talos-data/PLIST
@@ -1,4 +1,4 @@
-@comment Wed Sep 26 15:32:27 CEST 2018
+@comment Tue Jul 16 00:49:25 CEST 2019
include/talos/data/config.hh
include/talos/data/deprecated.hh
include/talos/data/warning.hh
@@ -89,6 +89,7 @@ share/talos_data/robots/talos_small.urdf.xacro
share/talos_data/robots/upload.launch
share/talos_data/robots/upload_talos.launch
share/talos_data/srdf/talos.srdf
+share/talos_data/srdf/talos_wpg.srdf
share/talos_data/urdf/arm/arm.transmission.xacro
share/talos_data/urdf/arm/arm_v1.urdf.xacro
share/talos_data/urdf/arm/arm_v2.urdf.xacro
@@ -123,5 +124,6 @@ share/talos_data/urdf/talos_full.urdf
share/talos_data/urdf/talos_full_v2.urdf
share/talos_data/urdf/talos_reduced.urdf
share/talos_data/urdf/talos_reduced_v2.urdf
+share/talos_data/urdf/talos_reduced_wpg.urdf
share/talos_data/urdf/torso/torso.transmission.xacro
share/talos_data/urdf/torso/torso.urdf.xacro
diff --git a/talos-data/distinfo b/talos-data/distinfo
index ac35d78da8b7a6717bd498dc86937380d04d6663..bea3779db214381b71c7826aefe8783b9bd2f896 100644
--- a/talos-data/distinfo
+++ b/talos-data/distinfo
@@ -1,4 +1,3 @@
-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) = 9d916efcd97ec3986b77da550b9850896ce775bf
+SHA1 (talos_data-0.0.22.tar.gz) = 929002374b081cdab79dbe924875d751fe72acea
+RMD160 (talos_data-0.0.22.tar.gz) = 510ce15dff8e1f8e47b4686722bc7af10fa8c0dc
+Size (talos_data-0.0.22.tar.gz) = 8806646 bytes
diff --git a/talos-data/patches/patch-aa b/talos-data/patches/patch-aa
deleted file mode 100644
index 1a0f1cf74a465b7f4ecac3958d74ec40d6f8d002..0000000000000000000000000000000000000000
--- a/talos-data/patches/patch-aa
+++ /dev/null
@@ -1,13 +0,0 @@
-[srdf] Add joint state value for the root joint.
-
---- srdf/talos.srdf
-+++ 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" />
-