diff --git a/talos-data/Makefile b/talos-data/Makefile
index b9062e6869f255cbf9d1f816dbccb8e04f12d16d..1bca807504c13e74f103e7806ec1d9dfbf1b4deb 100644
--- a/talos-data/Makefile
+++ b/talos-data/Makefile
@@ -1,12 +1,11 @@
# robotpkg Makefile for: wip/talos-data
# Created: Olivier Stasse, on Tue. 9th May, 2017
#
-VERSION= 0.0.17
+VERSION= 0.0.18
PKGNAME= talos-data-${VERSION}
DISTNAME= $(subst -,_,${PKGBASE})-${VERSION}
-PKGREVISION= 5
-MASTER_SITES= ftp://${JRL_FTP_USER}${JRL_FTP_PASSWD:%=:%}@softs.laas.fr/talos/talos_data/
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=talos/talos_data/}
MASTER_REPOSITORY= https://redmine.laas.fr/laas/users/
CHECKOUT_VCS_OPTS+= --recursive
@@ -15,10 +14,6 @@ COMMENT= This packages provides data of the humanoid robot Pyrene in a friendly
LICENSE= pal-license
MAINTAINER= ostasse@laas.fr
-RESTRICTED= Redistribution of repackaged binaries not permitted
-NO_PUBLIC_SRC= ${RESTRICTED}
-NO_PUBLIC_BIN= ${RESTRICTED}
-
CMAKE_PREFIX_PATH+= ${PREFIX}
include ../../devel/ros-catkin/depend.mk
diff --git a/talos-data/PLIST b/talos-data/PLIST
index ec034e3663814990ab02c41532c9e77e43cd385f..a664cedbd84c4a02f5cd53dc049189d66c6de8d1 100644
--- a/talos-data/PLIST
+++ b/talos-data/PLIST
@@ -75,27 +75,14 @@ share/talos_data/meshes/v2/hip_z_collision.stl
share/talos_data/meshes/v2/hip_z_lo_res.stl
share/talos_data/meshes/v2/knee_collision.stl
share/talos_data/meshes/v2/knee_lo_res.stl
-share/talos_data/robots/talos_arm.urdf.xacro
-share/talos_data/robots/talos_full.urdf
share/talos_data/robots/talos_full.urdf.xacro
-share/talos_data/robots/talos_full_collision.urdf
share/talos_data/robots/talos_full_no_grippers.urdf.xacro
-share/talos_data/robots/talos_full_no_lower_arm.urdf.xacro
-share/talos_data/robots/talos_gripper.urdf.xacro
-share/talos_data/robots/talos_head.urdf.xacro
share/talos_data/robots/talos_lower_body.urdf.xacro
-share/talos_data/robots/talos_lower_body_with_torso.urdf.xacro
share/talos_data/robots/talos_reduced.urdf
share/talos_data/robots/talos_small.urdf.xacro
-share/talos_data/robots/talos_torso.urdf.xacro
-share/talos_data/robots/upload_arm.launch
-share/talos_data/robots/upload_gripper.launch
-share/talos_data/robots/upload_head.launch
-share/talos_data/robots/upload_legs.launch
share/talos_data/robots/upload_talos.launch
share/talos_data/srdf/talos.srdf
share/talos_data/urdf/arm/arm.transmission.xacro
-share/talos_data/urdf/arm/arm.urdf.xacro
share/talos_data/urdf/arm/wrist.transmission.xacro
share/talos_data/urdf/arm/wrist.urdf.xacro
share/talos_data/urdf/deg_to_rad.xacro
@@ -108,7 +95,6 @@ share/talos_data/urdf/leg/leg.transmission.xacro
share/talos_data/urdf/leg/leg.urdf.xacro
share/talos_data/urdf/materials.urdf.xacro
share/talos_data/urdf/sensors/calibration.xacro
-share/talos_data/urdf/sensors/ftsensor.gazebo.xacro
share/talos_data/urdf/sensors/ftsensor.urdf.xacro
share/talos_data/urdf/sensors/imu.urdf.xacro
share/talos_data/urdf/sensors/openni.gazebo.xacro
@@ -192,27 +178,12 @@ share/talos_data/meshes/v2/hip_z_lo_res.stl
share/talos_data/meshes/v2/knee_collision.stl
share/talos_data/meshes/v2/knee_lo_res.stl
share/talos_data/package.xml
-share/talos_data/robots/talos_arm.urdf.xacro
-share/talos_data/robots/talos_full.urdf
-share/talos_data/robots/talos_full.urdf.xacro
-share/talos_data/robots/talos_full_collision.urdf
share/talos_data/robots/talos_full_no_grippers.urdf.xacro
-share/talos_data/robots/talos_full_no_lower_arm.urdf.xacro
-share/talos_data/robots/talos_gripper.urdf.xacro
-share/talos_data/robots/talos_head.urdf.xacro
-share/talos_data/robots/talos_lower_body.urdf.xacro
-share/talos_data/robots/talos_lower_body_with_torso.urdf.xacro
share/talos_data/robots/talos_reduced.urdf
share/talos_data/robots/talos_small.urdf.xacro
-share/talos_data/robots/talos_torso.urdf.xacro
-share/talos_data/robots/upload_arm.launch
-share/talos_data/robots/upload_gripper.launch
-share/talos_data/robots/upload_head.launch
-share/talos_data/robots/upload_legs.launch
share/talos_data/robots/upload_talos.launch
share/talos_data/srdf/talos.srdf
share/talos_data/urdf/arm/arm.transmission.xacro
-share/talos_data/urdf/arm/arm.urdf.xacro
share/talos_data/urdf/arm/wrist.transmission.xacro
share/talos_data/urdf/arm/wrist.urdf.xacro
share/talos_data/urdf/deg_to_rad.xacro
@@ -225,7 +196,6 @@ share/talos_data/urdf/leg/leg.transmission.xacro
share/talos_data/urdf/leg/leg.urdf.xacro
share/talos_data/urdf/materials.urdf.xacro
share/talos_data/urdf/sensors/calibration.xacro
-share/talos_data/urdf/sensors/ftsensor.gazebo.xacro
share/talos_data/urdf/sensors/ftsensor.urdf.xacro
share/talos_data/urdf/sensors/imu.urdf.xacro
share/talos_data/urdf/sensors/openni.gazebo.xacro
@@ -233,7 +203,6 @@ share/talos_data/urdf/sensors/orbbec_astra_pro.urdf.xacro
share/talos_data/urdf/sensors/xtion_pro_live.gazebo.xacro
share/talos_data/urdf/sensors/xtion_pro_live.urdf.xacro
share/talos_data/urdf/talos_full.urdf
-share/talos_data/urdf/talos_full_collision.urdf
share/talos_data/urdf/talos_reduced.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 402ef1567d56574508749cd33fb746c5ce1aae85..09f95efdf2814cf11e1f9d5dd6f7384329294328 100644
--- a/talos-data/distinfo
+++ b/talos-data/distinfo
@@ -1,4 +1,3 @@
-SHA1 (talos_data-0.0.17.tar.gz) = e10ccb483b00d5641d6f4fab0c10babc4b3b4e7b
-RMD160 (talos_data-0.0.17.tar.gz) = c36035d0256e3f4917ddd9b996a4cfd79d3cd3fd
-Size (talos_data-0.0.17.tar.gz) = 8802583 bytes
-SHA1 (patch-aa) = 4377a9e0d8798ef8e1587c39d1f2b7915ea59abc
+SHA1 (talos_data-0.0.18.tar.gz) = d7c9f6a4805be4e84c492182a648584ae217fe9f
+RMD160 (talos_data-0.0.18.tar.gz) = 9f2302022a11fbf9616fdf7fda147f577678c224
+Size (talos_data-0.0.18.tar.gz) = 8764006 bytes
diff --git a/talos-data/patches/patch-aa b/talos-data/patches/patch-aa
deleted file mode 100644
index 88f4592e2fdf195c6eedd4690e7515d750febd7b..0000000000000000000000000000000000000000
--- a/talos-data/patches/patch-aa
+++ /dev/null
@@ -1,18 +0,0 @@
-Temporarly add https://gepgitlab.laas.fr/pyrene-dev/talos_data/merge_requests/2
-
---- srdf/talos.srdf
-+++ srdf/talos.srdf
-@@ -650,11 +650,13 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
- <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
- <link name="gripper_left_base_link" />
- <joint name="gripper_left_joint" />
-+ <torque_constant value="48e-3" unit="N.m/A"/>
- </gripper>
-
- <gripper name="right_gripper" clearance="0.03">
- <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
- <link name="gripper_right_base_link" />
- <joint name="gripper_right_joint" />
-+ <torque_constant value="48e-3" unit="N.m/A"/>
- </gripper>
- </robot>