diff --git a/talos-data/distinfo b/talos-data/distinfo
index 342447a8c6346f66c076a9e530bae3cee50b4b61..d702ebe22926ac7d27c6033655180b39b850772a 100644
--- a/talos-data/distinfo
+++ b/talos-data/distinfo
@@ -1,3 +1,4 @@
 SHA1 (talos_data-0.0.19.tar.gz) = 17439b6a1730f1dd5b6efc4773539b897da434ec
 RMD160 (talos_data-0.0.19.tar.gz) = da0fedb3336ea1c3e68d7ae90964e52503610e93
 Size (talos_data-0.0.19.tar.gz) = 8773911 bytes
+SHA1 (patch-aa) = deeeeb585f8ed87d0bce8486ac8a69dfa2e570b6
diff --git a/talos-data/patches/patch-aa b/talos-data/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..f2e3d92226f249416d4c206d60d8689ffb441ec7
--- /dev/null
+++ b/talos-data/patches/patch-aa
@@ -0,0 +1,56 @@
+--- urdf/talos_reduced_v2.urdf
++++ urdf/talos_reduced_v2.urdf
+@@ -1349,7 +1349,7 @@
+       </geometry>
+     </collision>
+   </link>
+-  <joint name="gripper_left_inner_double_joint" type="revolute">
++  <joint name="gripper_left_inner_double_joint" type="fixed">
+     <parent link="gripper_left_base_link"/>
+     <child link="gripper_left_inner_double_link"/>
+     <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+@@ -1433,7 +1433,7 @@
+       </geometry>
+     </collision>
+   </link>
+-  <joint name="gripper_left_motor_single_joint" type="revolute">
++  <joint name="gripper_left_motor_single_joint" type="fixed">
+     <parent link="gripper_left_base_link"/>
+     <child link="gripper_left_motor_single_link"/>
+     <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+@@ -1461,7 +1461,7 @@
+       </geometry>
+     </collision>
+   </link>
+-  <joint name="gripper_left_inner_single_joint" type="revolute">
++  <joint name="gripper_left_inner_single_joint" type="fixed">
+     <parent link="gripper_left_base_link"/>
+     <child link="gripper_left_inner_single_link"/>
+     <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+@@ -1702,7 +1702,7 @@
+       </geometry>
+     </collision>
+   </link>
+-  <joint name="gripper_right_inner_double_joint" type="revolute">
++  <joint name="gripper_right_inner_double_joint" type="fixed">
+     <parent link="gripper_right_base_link"/>
+     <child link="gripper_right_inner_double_link"/>
+     <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+@@ -1786,7 +1786,7 @@
+       </geometry>
+     </collision>
+   </link>
+-  <joint name="gripper_right_motor_single_joint" type="revolute">
++  <joint name="gripper_right_motor_single_joint" type="fixed">
+     <parent link="gripper_right_base_link"/>
+     <child link="gripper_right_motor_single_link"/>
+     <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+@@ -1814,7 +1814,7 @@
+       </geometry>
+     </collision>
+   </link>
+-  <joint name="gripper_right_inner_single_joint" type="revolute">
++  <joint name="gripper_right_inner_single_joint" type="fixed">
+     <parent link="gripper_right_base_link"/>
+     <child link="gripper_right_inner_single_link"/>
+     <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>