diff --git a/hpp-rbprm-robot-data/Makefile b/hpp-rbprm-robot-data/Makefile
index 3a8698702b14358a770ff636ae0218d39dd413a2..1a2763963338437d8323706f486a8c536d1e6b2c 100644
--- a/hpp-rbprm-robot-data/Makefile
+++ b/hpp-rbprm-robot-data/Makefile
@@ -4,6 +4,7 @@
 
 HPP_PACKAGE=	hpp-rbprm-robot-data
 HPP_COMMENT=	file database
+PKGREVISION=	1
 
 CATEGORIES=	wip
 
diff --git a/hpp-rbprm-robot-data/distinfo b/hpp-rbprm-robot-data/distinfo
index 214122495952cf4b36a1e42f64e5065c311e9d29..6c4d950111b9844ede39f8d1c61a17f21dd616f7 100644
--- a/hpp-rbprm-robot-data/distinfo
+++ b/hpp-rbprm-robot-data/distinfo
@@ -1,3 +1,4 @@
 SHA1 (hpp-rbprm-robot-data-4.7.0.tar.gz) = 9234a2d94927349b35866213dd9b28e7e77f7569
 RMD160 (hpp-rbprm-robot-data-4.7.0.tar.gz) = 1c010b33843edbf6bba0d7ca77d474202638e115
 Size (hpp-rbprm-robot-data-4.7.0.tar.gz) = 21669530 bytes
+SHA1 (patch-aa) = fdbd10d448de7369f7ce3bbfb1298753662e0d82
diff --git a/hpp-rbprm-robot-data/patches/patch-aa b/hpp-rbprm-robot-data/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..75b5a7e3b49c5afa762d926286721a0b292f37d2
--- /dev/null
+++ b/hpp-rbprm-robot-data/patches/patch-aa
@@ -0,0 +1,115 @@
+--- data/hyq/com_inequalities/obj_to_constraints.py.orig	2019-09-25 18:40:13.000000000 +0200
++++ data/hyq/com_inequalities/obj_to_constraints.py	2019-10-05 08:12:48.223720636 +0200
+@@ -1,15 +1,20 @@
+ #do the loading of the obj file
+-import numpy as np
+ from collections import namedtuple
++from pickle import dump, load
++
++import numpy as np
++
+ ObjectData = namedtuple("ObjectData", "V T N F")
+ Inequalities = namedtuple("Inequality", "A b N V")
+ 
++
+ def toFloat(stringArray):
+ 	res= np.zeros(len(stringArray))
+ 	for i in range(0,len(stringArray)):
+ 		res[i] = float(stringArray[i])
+ 	return res
+ 
++
+ def load_obj(filename) :
+  V = [] #vertex
+  T = [] #texcoords
+@@ -40,12 +45,14 @@
+ 
+  return ObjectData(V, T, N, F)
+  
++
+ def inequality(v, n): 
+ 	#the plan has for equation ax + by + cz = d, with a b c coordinates of the normal
+ 	#inequality is then ax + by +cz -d <= 0 
+ 	# last var is v because we need it
+ 	return [n[0], n[1], n[2], np.array(v).dot(np.array(n))]
+ 	
++
+ def as_inequalities(obj):
+ 	#for each face, find first three points and deduce plane
+ 	#inequality is given by normal
+@@ -65,11 +72,14 @@
+ 		N[f,:] = n
+ 	return Inequalities(A,b, N, V)
+ 	
++
+ def is_inside(inequalities, pt):
+ 	return ((inequalities.A.dot(pt) - inequalities.b) < 0).all()
+ 
++
+ #~ def rotate_inequalities_q():
+ 
++
+ # TODO this is naive, should be a way to simply update d
+ def rotate_inequalities(ineq, transform):
+ 	#for each face, find first three points and deduce plane
+@@ -88,19 +98,20 @@
+ 		N[i,:] = n
+ 	return Inequalities(A,b, N, V)
+ 
+-from pickle import dump
++
+ def ineq_to_file(ineq, filename):
+ 	f1=open(filename, 'w+')
+ 	res = { 'A' : ineq.A, 'b' : ineq.b, 'N' : ineq.N, 'V' : ineq.V}
+ 	dump(res, f1)
+ 	f1.close()
+ 	
+-from pickle import load
++
+ def ineq_from_file(filename):
+ 	f1=open(filename, 'r')
+ 	res = load(f1)
+ 	return Inequalities(res['A'], res['b'],res['N'],res['V'])
+ 	
++
+ def test_inequality():
+ 	n = np.array([0,-1,0])
+ 	v = np.array([0,1,1])
+@@ -109,6 +120,7 @@
+ 	else:
+ 		print("test_inequality successful")
+ 
++
+ def __gen_data():
+ 	obj = load_obj('./hrp2/RL_com._reduced.obj')
+ 	ineq = as_inequalities(obj)
+@@ -116,6 +128,7 @@
+ 	not_ok_points = [[-0.3399, 0.2478, -0.722],[-0.1385,-0.4401,-0.1071]]
+ 	return obj, ineq, ok_points, not_ok_points
+ 
++
+ def test_belonging():
+ 	data = __gen_data()
+ 	ineq = data[1]
+@@ -127,11 +140,10 @@
+ 		assert (not is_inside(ineq, np.array(p))), "point " + str(p) + " should NOT be inside object"
+ 	print("test_belonging successful")
+ 	
++
+ def test_rotate_inequalities():
+ 	
+-	tr = np.array([[ 1.        ,  0.        ,  0.        ,  0.        ],
+-				   [ 0.        ,  0.98006658, -0.19866933,  2.        ],
+-				   [ 0.        ,  0.19866933,  0.98006658,  0.        ],
++    tr = np.array([[1., 0., 0., 0.], [0., 0.98006658, -0.19866933, 2.], [0., 0.19866933, 0.98006658, 0.],
+ 				   [ 0.        ,  0.        ,  0.        ,  1.        ]])
+ 	
+ 	data = __gen_data()
+@@ -150,6 +162,7 @@
+ 	ineq = as_inequalities(obj)
+ 	ineq_to_file (ineq, out_name)	
+ 	
++
+ load_obj_and_save_ineq('./lfleg_com_reduced.obj','./lfleg_com.ineq')
+ load_obj_and_save_ineq('./lhleg_com_reduced.obj','./lhleg_com.ineq')
+ load_obj_and_save_ineq('./rhleg_com_reduced.obj','./rhleg_com.ineq')