diff --git a/dynamic-graph-bridge-v3/Makefile b/dynamic-graph-bridge-v3/Makefile
index 4f859c05515b90acb53a2c15ba6713a0f0960376..5ac72c0a6857d99c69193cfe47a84302cbdf2eba 100644
--- a/dynamic-graph-bridge-v3/Makefile
+++ b/dynamic-graph-bridge-v3/Makefile
@@ -4,7 +4,7 @@
 VERSION=		3.0.6
 DISTNAME=		dynamic_graph_bridge-v3-${VERSION}
 PKGNAME=		dynamic-graph-bridge-v3-${VERSION}
-PKGREVISION=		3
+PKGREVISION=		4
 
 CATEGORIES=		wip
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=dynamic-graph-bridge-v3/}
diff --git a/dynamic-graph-bridge-v3/distinfo b/dynamic-graph-bridge-v3/distinfo
index 6a49f9f6bafcab3eee7aba7eda748f70a4ca4c42..e0bfb7541058c8623519544a79d91d96461b67d1 100644
--- a/dynamic-graph-bridge-v3/distinfo
+++ b/dynamic-graph-bridge-v3/distinfo
@@ -1,3 +1,4 @@
 SHA1 (dynamic_graph_bridge-v3-3.0.6.tar.gz) = a5e6d7aacd358aa0412b7dacacb098e52adea5a0
 RMD160 (dynamic_graph_bridge-v3-3.0.6.tar.gz) = ea7d2a163e295162bfa911cb8d7835c465aa3df7
 Size (dynamic_graph_bridge-v3-3.0.6.tar.gz) = 768058 bytes
+SHA1 (patch-aa) = e775cf99d92899db366f6e006535ed174ed50a09
diff --git a/dynamic-graph-bridge-v3/patches/patch-aa b/dynamic-graph-bridge-v3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..b35ded852b8457ffef9960fb9053377c904642e6
--- /dev/null
+++ b/dynamic-graph-bridge-v3/patches/patch-aa
@@ -0,0 +1,13 @@
+diff --git src/sot_loader.cpp src/sot_loader.cpp
+index 411ed6c..1b9071c 100644
+--- src/sot_loader.cpp
++++ src/sot_loader.cpp
+@@ -102,7 +102,7 @@ SotLoader::readControl(map<string,dgs::ControlValues> &controlValues)
+ 
+   
+   // Update joint values.
+-  angleControl_ = controlValues["joints"].getValues();
++  angleControl_ = controlValues["control"].getValues();
+ 
+   //Debug
+   std::map<std::string,dgs::ControlValues>::iterator it = controlValues.begin();