diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 25685c7602c1010fd9242ab2cc87153b07ed87da..2cf95b32b7edf1fdcf2eea8086ccba9524bd1529 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,56 +1 @@
-# Please don't edit this file, and use the version generated at
-# http://rainboard.laas.fr/project/talos_data/.gitlab-ci.yml
-
-variables:
-  GIT_SUBMODULE_STRATEGY: "recursive"
-  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
-  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
-
-cache:
-  paths:
-    - ccache
-
-.robotpkg-talos-data: &robotpkg-talos-data
-  except:
-    - gh-pages
-  script:
-    - mkdir -p ccache
-    - cd /root/robotpkg/wip
-    - git pull
-    - cd talos-data
-    - make checkout MASTER_REPOSITORY="git ${CI_PROJECT_DIR}/.git"
-    - make install
-    - cd $(make show-var VARNAME=WRKSRC)
-    - make test
-
-robotpkg-talos-data-14.04-release:
-  <<: *robotpkg-talos-data
-  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:14.04
-
-robotpkg-talos-data-16.04-release:
-  <<: *robotpkg-talos-data
-  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:16.04
-
-robotpkg-talos-data-18.04-release:
-  <<: *robotpkg-talos-data
-  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:18.04
-
-doc-coverage:
-  <<: *robotpkg-talos-data
-  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:16.04
-  before_script:
-    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
-  after_script:
-    - cd /root/robotpkg/wip/talos-data
-    - cd $(make show-var VARNAME=WRKSRC)
-    - make doc
-    - mv doc/doxygen-html ${CI_PROJECT_DIR}
-    - mkdir -p ${CI_PROJECT_DIR}/coverage/
-    - gcovr -r .
-    - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
-  artifacts:
-    expire_in: 1 day
-    paths:
-      - doxygen-html/
-      - coverage/
-
+include: http://rainboard.laas.fr/project/talos_data/.gitlab-ci.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 666ff8fedb4a4ae3c0a67f0955b90686eb2ff783..48d910d3f9ad8b7db93a5e997d726be156e4f0bb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,10 +2,10 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
 INCLUDE(cmake/base.cmake)
 #include(cmake/ros.cmake)
 
-
+SET(PROJECT_ORG pyrene-dev)
 SET(PROJECT_NAME talos_data)
 SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
-SET(PROJECT_URL "https://redmine.laas.fr/projects/pyrene-talos/repository/talos-data")
+SET(PROJECT_URL "https://gepgitlab.laas.fr/${PROJECT_ORG}/${PROJECT_NAME}")
 
 set(CXX_DISABLE_WERROR True)
 SETUP_PROJECT()
diff --git a/cmake b/cmake
index 6ccc9f9b2a2ff510ae7754c515c72f8e38410447..4c358432cc006d040a2ccd4ef5c5de9f5d0d87c2 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 6ccc9f9b2a2ff510ae7754c515c72f8e38410447
+Subproject commit 4c358432cc006d040a2ccd4ef5c5de9f5d0d87c2
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index 331da5015bce66ffb15ab962d51bd23c55aadaf9..a579ef35d7acc01b80cde056f3550d35c1df3735 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -129,6 +129,7 @@
 
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="half_sitting" group="all">
+        <joint name="root_joint" value="0. 0. 1.01927 0. 0. 0. 1." />
         <joint name="arm_left_1_joint" value="0.25847" />
         <joint name="arm_left_2_joint" value="0.173046" />
         <joint name="arm_left_3_joint" value="-0.0002" />
diff --git a/urdf/talos_reduced.urdf b/urdf/talos_reduced.urdf
index 56bbdfe1b0d9ac9d7a9568b7e67925acd345918e..3f912160d996a4c293957283eeb1abdc25a7649f 100644
--- a/urdf/talos_reduced.urdf
+++ b/urdf/talos_reduced.urdf
@@ -2184,21 +2184,20 @@
       </geometry>
       <material name="Grey"/>
     </visual>
+    <collision>
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <geometry>
+      <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
+    </geometry>
+    </collision> 
     <!--
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
-        </geometry>
-      </collision> 
-      
-      -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
       <geometry>
         <box size="0.21 0.13 0.02"/>
       </geometry>
     </collision>
+    -->
   </link>
   <joint name="leg_left_6_joint" type="revolute">
     <parent link="leg_left_5_link"/>
@@ -2510,21 +2509,20 @@
       </geometry>
       <material name="Grey"/>
     </visual>
+    <collision>
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <geometry>
+      <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
+    </geometry>
+    </collision> 
     <!--
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
-        </geometry>
-      </collision> 
-      
-      -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
       <geometry>
         <box size="0.21 0.13 0.02"/>
       </geometry>
     </collision>
+    -->
   </link>
   <joint name="leg_right_6_joint" type="revolute">
     <parent link="leg_right_5_link"/>