diff --git a/sot-talos-balance/PLIST b/sot-talos-balance/PLIST
index 16f2a26e54879508b9cb6cb2f3be2f3ba8d63600..b7716e0a71b9bf4f2cd67444d5350e8aae8bc4fd 100644
--- a/sot-talos-balance/PLIST
+++ b/sot-talos-balance/PLIST
@@ -67,17 +67,6 @@ lib/plugin/talos-base-estimator.so
 lib/plugin/talos-base-estimator.so.${PKGVERSION}
 lib/plugin/talos-control-manager.so
 lib/plugin/talos-control-manager.so.${PKGVERSION}
-lib/python2.7/site-packages/dynamic_graph/sot/core/filter_differentiator/__init__.py
-lib/python2.7/site-packages/dynamic_graph/sot/core/filter_differentiator/wrap.so
-lib/python2.7/site-packages/dynamic_graph/sot/core/madgwickahrs/__init__.py
-lib/python2.7/site-packages/dynamic_graph/sot/core/madgwickahrs/wrap.so
-lib/python2.7/site-packages/dynamic_graph/sot/core/parameter_server/__init__.py
-lib/python2.7/site-packages/dynamic_graph/sot/core/parameter_server/wrap.so
-lib/python2.7/site-packages/dynamic_graph/sot/torque_control/admittance_controller/__init__.py
-lib/python2.7/site-packages/dynamic_graph/sot/torque_control/admittance_controller/wrap.so
-lib/python2.7/site-packages/dynamic_graph/sot/torque_control/ddp_actuator_solver/__init__.py
-lib/python2.7/site-packages/dynamic_graph/sot/torque_control/ddp_actuator_solver/wrap.so
-share/joint_torque_sensor_state_controller/joint_torque_sensor_state_controller.launch
 share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/CoM.dat
 share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/LeftFoot.dat
 share/sot_talos_balance/data/TestKajita2003StraightWalking64/10cm/RightFoot.dat
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index b72fd3539dc966a7956cdbac50ff7e60d8eaa4f9..0734fa9f071dbe8ae5150c7d6ac9b62ec7dd35bf 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-talos-balance-1.4.0.tar.gz) = 3a277c693751deeaee46cf8f4e850b2e8aec13cc
 RMD160 (sot-talos-balance-1.4.0.tar.gz) = f792750a3a1b6f4949fe21be81feae4189a81748
 Size (sot-talos-balance-1.4.0.tar.gz) = 8417797 bytes
+SHA1 (patch-aa) = be310bc9dd558388391fe627cad221876bd080e6
diff --git a/sot-talos-balance/patches/patch-aa b/sot-talos-balance/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..bdc42166dfb8ad1113f338d04890b70cb65acfc8
--- /dev/null
+++ b/sot-talos-balance/patches/patch-aa
@@ -0,0 +1,13 @@
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -177,6 +177,8 @@ IF(BUILD_PYTHON_INTERFACE)
+                   python/${SOTTALOSBALANCE_PYNAME}/test/appli_dcmComZmpControl.py
+                   python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmZmpControl.py
+                   python/${SOTTALOSBALANCE_PYNAME}/test/appli_dcmZmpControl.py
++                  python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmZmpControl_file.py
++                  python/${SOTTALOSBALANCE_PYNAME}/test/appli_dcmZmpControl_file.py		  
+                   python/${SOTTALOSBALANCE_PYNAME}/test/test_comAdmittance.py
+                   python/${SOTTALOSBALANCE_PYNAME}/test/test_admittance_single_joint.py
+                   python/${SOTTALOSBALANCE_PYNAME}/test/appli_admittance_single_joint.py
+
+