From 24b05a0a8076d9e1d843c560ac92878ad474b7f7 Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Thu, 3 Oct 2024 15:10:45 +0200
Subject: [PATCH 1/5] SN000/V1: put origin of visual and collision to 000 000
 for the new meshes

---
 .../ergoCub/robots/ergoCubGazeboV1/model.urdf | 314 +++++++++---------
 .../ergoCubGazeboV1_minContacts/model.urdf    | 314 +++++++++---------
 urdf/ergoCub/robots/ergoCubSN000/model.urdf   | 314 +++++++++---------
 3 files changed, 471 insertions(+), 471 deletions(-)

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
index 88a6b516..9a5ba726 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -6,7 +6,7 @@
       <inertia ixx="0.00438007" ixy="-1.4369e-06" ixz="1.40984e-05" iyy="0.00563065" iyz="-2.32994e-05" izz="0.00361668"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -15,7 +15,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -28,7 +28,7 @@
       <inertia ixx="0.00269555" ixy="6.12663e-05" ixz="6.44179e-06" iyy="0.00221227" iyz="1.50337e-05" izz="0.00246089"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -58,7 +58,7 @@
       <inertia ixx="0.00541315" ixy="-2.23165e-06" ixz="-6.93678e-07" iyy="0.0030844" iyz="-0.000989285" izz="0.00339693"/>
     </inertial>
     <visual>
-      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -67,7 +67,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -95,7 +95,7 @@
       <inertia ixx="0.00814902" ixy="-3.4988e-05" ixz="-0.000125736" iyy="0.00719326" iyz="-2.4103e-05" izz="0.00572783"/>
     </inertial>
     <visual>
-      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -104,7 +104,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -123,7 +123,7 @@
       <inertia ixx="0.0121093" ixy="-5.45559e-05" ixz="-0.000403319" iyy="0.0118603" iyz="-0.000539364" izz="0.00226097"/>
     </inertial>
     <visual>
-      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -132,7 +132,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -153,7 +153,7 @@
       <inertia ixx="0.0472543" ixy="-3.40915e-05" ixz="-0.0018183" iyy="0.0460139" iyz="0.000851474" izz="0.00478515"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -162,7 +162,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -183,7 +183,7 @@
       <inertia ixx="0.01" ixy="-8.99183e-06" ixz="5.52411e-05" iyy="0.01" iyz="1.03371e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -192,7 +192,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -213,7 +213,7 @@
       <inertia ixx="0.01" ixy="-2.30708e-05" ixz="-3.07725e-05" iyy="0.01" iyz="-0.00132237" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.031650000000000005 0.07440000000000001 0.8856000000000002" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -222,7 +222,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.031650000000000005 0.07440000000000001 0.8856000000000002" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -257,7 +257,7 @@
       <inertia ixx="0.01" ixy="0.0" ixz="-4.27001e-09" iyy="0.01" iyz="3.29086e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.015599999999999463 0.07440000000000031 0.9335" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -266,7 +266,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -292,7 +292,7 @@
       <inertia ixx="0.01" ixy="0.0" ixz="-4.27001e-09" iyy="0.01" iyz="3.99664e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10360000000000001 0.07440000000000001 0.9335000000000001" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -301,7 +301,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -320,7 +320,7 @@
       <inertia ixx="0.00269534" ixy="-5.97131e-05" ixz="-5.83472e-06" iyy="0.00221093" iyz="1.54328e-05" izz="0.00246104"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 -0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -329,7 +329,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021099999999999997 -0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -350,7 +350,7 @@
       <inertia ixx="0.00548825" ixy="1.65424e-06" ixz="-2.17613e-06" iyy="0.00315954" iyz="-0.000997734" izz="0.0033985"/>
     </inertial>
     <visual>
-      <origin xyz="0.026149999999999982 -0.08359999999999998 0.18750000000000003" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -359,7 +359,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026149999999999982 -0.08359999999999998 0.18750000000000003" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -387,7 +387,7 @@
       <inertia ixx="0.00819802" ixy="3.32133e-05" ixz="0.000124756" iyy="0.00724222" iyz="-2.50618e-05" izz="0.00572746"/>
     </inertial>
     <visual>
-      <origin xyz="-0.010549999999999967 -0.08360000000000002 0.27720000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -396,7 +396,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.010549999999999967 -0.08360000000000002 0.27720000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -415,7 +415,7 @@
       <inertia ixx="0.0121099" ixy="4.90739e-05" ixz="0.000392143" iyy="0.0118524" iyz="-0.000539399" izz="0.00225363"/>
     </inertial>
     <visual>
-      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -424,7 +424,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -445,7 +445,7 @@
       <inertia ixx="0.0472513" ixy="1.91266e-05" ixz="0.00182251" iyy="0.0460128" iyz="0.000805127" izz="0.0047826"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021150000000000016 0.06070000000000036 -0.5296000000000004" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -454,7 +454,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021150000000000016 0.06070000000000036 -0.5296000000000004" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -475,7 +475,7 @@
       <inertia ixx="0.01" ixy="8.88196e-06" ixz="-5.52411e-05" iyy="0.01" iyz="7.86883e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021150000000000165 -0.09260000000000018 0.8506000000000005" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -484,7 +484,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021150000000000165 -0.09260000000000018 0.8506000000000005" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -505,7 +505,7 @@
       <inertia ixx="0.01" ixy="-1.99736e-05" ixz="-1.50522e-05" iyy="0.01" iyz="-0.00132513" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.031599999999999906 -0.07440000000000055 0.8856000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -514,7 +514,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.031599999999999906 -0.07440000000000055 0.8856000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -549,7 +549,7 @@
       <inertia ixx="0.01" ixy="0.0" ixz="-5.72999e-09" iyy="0.01" iyz="5.16985e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10365000000000019 -0.07440000000000048 0.933500000000001" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -558,7 +558,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -577,7 +577,7 @@
       <inertia ixx="0.01" ixy="0.0" ixz="-5.72999e-09" iyy="0.01" iyz="3.29086e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.015599999999999909 -0.07440000000000056 0.9335000000000011" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -586,7 +586,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -612,7 +612,7 @@
       <inertia ixx="0.007406086" ixy="7.140236651960731e-06" ixz="-1.288469375324392e-05" iyy="0.0059470733" iyz="0.0007398731028381387" izz="0.0031780111"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -621,7 +621,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -642,7 +642,7 @@
       <inertia ixx="0.000667553" ixy="-4.19862e-06" ixz="7.0143e-05" iyy="0.00125903" iyz="5.39818e-06" izz="0.00114582"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -651,7 +651,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -672,7 +672,7 @@
       <inertia ixx="0.0449389" ixy="-0.000176119" ixz="-0.00012962" iyy="0.0484549" iyz="0.000312401" izz="0.0306877"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 -0.06446999999999996" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
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@@ -2468,7 +2468,7 @@
       <inertia ixx="0.01" ixy="1.239e-07" ixz="8.75068e-07" iyy="0.01" iyz="-3.99253e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.016178446836467256 -0.19793324107587792 0.3594559877864297" rpy="0.11954926259843997 0.22799029281164018 1.8531928341958708"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2477,7 +2477,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.016178446836467256 -0.19793324107587792 0.3594559877864297" rpy="0.11954926259843997 0.22799029281164018 1.8531928341958708"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2582,7 +2582,7 @@
       <inertia ixx="0.01" ixy="-2.06718e-06" ixz="-4.99381e-07" iyy="0.01" iyz="-2.5225e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2591,7 +2591,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2612,7 +2612,7 @@
       <inertia ixx="0.01" ixy="-1.15428e-08" ixz="-1.55154e-08" iyy="0.01" iyz="-2.43359e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2621,7 +2621,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2642,7 +2642,7 @@
       <inertia ixx="0.01" ixy="-6.71818e-07" ixz="-3.37336e-07" iyy="0.01" iyz="-6.24005e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2651,7 +2651,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2756,7 +2756,7 @@
       <inertia ixx="0.01" ixy="-2.91649e-09" ixz="3.31954e-08" iyy="0.01" iyz="-2.28393e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2765,7 +2765,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2786,7 +2786,7 @@
       <inertia ixx="0.01" ixy="3.5901e-08" ixz="7.27944e-07" iyy="0.01" iyz="-1.07962e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2795,7 +2795,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2904,8 +2904,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_foot_front_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
+    <parent link="l_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_rear_ft_imu" type="imu">
@@ -2918,8 +2918,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_foot_rear_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
+    <parent link="l_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="r_ankle_2">
     <sensor name="r_foot_front_ft_imu" type="imu">
@@ -2932,8 +2932,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_foot_front_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
+    <parent link="r_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="r_ankle_2">
     <sensor name="r_foot_rear_ft_imu" type="imu">
@@ -2946,8 +2946,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_foot_rear_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
+    <parent link="r_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="l_shoulder_2">
     <sensor name="l_arm_ft_imu" type="imu">
@@ -2960,8 +2960,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_arm_ft_imu" type="accelerometer">
-    <parent link="l_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
+    <parent link="l_shoulder_2"/>
+    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430"/>
   </sensor>
   <gazebo reference="r_shoulder_2">
     <sensor name="r_arm_ft_imu" type="imu">
@@ -2974,8 +2974,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_arm_ft_imu" type="accelerometer">
-    <parent link="r_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
+    <parent link="r_shoulder_2"/>
+    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_leg_ft_imu" type="imu">
@@ -2988,8 +2988,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_leg_ft_imu" type="accelerometer">
-    <parent link="l_hip_2" />
-    <origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970" />
+    <parent link="l_hip_2"/>
+    <origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970"/>
   </sensor>
   <gazebo reference="r_hip_2">
     <sensor name="r_leg_ft_imu" type="imu">
@@ -3002,8 +3002,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_leg_ft_imu" type="accelerometer">
-    <parent link="r_hip_2" />
-    <origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970" />
+    <parent link="r_hip_2"/>
+    <origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970"/>
   </sensor>
   <link name="waist_imu_0"/>
   <joint name="waist_imu_0_fixed_joint" type="fixed">
@@ -3040,12 +3040,12 @@
 </joint>
   <gazebo reference="r_arm_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo>
@@ -3082,17 +3082,17 @@
 </gazebo>
   <gazebo reference="l_leg_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_front_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_rear_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_front">
@@ -3148,17 +3148,17 @@
 </gazebo>
   <gazebo reference="r_leg_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_front_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_rear_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_front">
@@ -3611,4 +3611,4 @@
   <gazebo>
     <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
   </gazebo>
-</robot>
+</robot>
\ No newline at end of file
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
index bbd93fe6..e8a712c4 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -6,7 +6,7 @@
       <inertia ixx="0.00438007" ixy="-1.4369e-06" ixz="1.40984e-05" iyy="0.00563065" iyz="-2.32994e-05" izz="0.00361668"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -15,7 +15,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -28,7 +28,7 @@
       <inertia ixx="0.00269555" ixy="6.12663e-05" ixz="6.44179e-06" iyy="0.00221227" iyz="1.50337e-05" izz="0.00246089"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -58,7 +58,7 @@
       <inertia ixx="0.00541315" ixy="-2.23165e-06" ixz="-6.93678e-07" iyy="0.0030844" iyz="-0.000989285" izz="0.00339693"/>
     </inertial>
     <visual>
-      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -67,7 +67,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -95,7 +95,7 @@
       <inertia ixx="0.00814902" ixy="-3.4988e-05" ixz="-0.000125736" iyy="0.00719326" iyz="-2.4103e-05" izz="0.00572783"/>
     </inertial>
     <visual>
-      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -104,7 +104,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -123,7 +123,7 @@
       <inertia ixx="0.0121093" ixy="-5.45559e-05" ixz="-0.000403319" iyy="0.0118603" iyz="-0.000539364" izz="0.00226097"/>
     </inertial>
     <visual>
-      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -132,7 +132,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -153,7 +153,7 @@
       <inertia ixx="0.0472543" ixy="-3.40915e-05" ixz="-0.0018183" iyy="0.0460139" iyz="0.000851474" izz="0.00478515"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -162,7 +162,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -183,7 +183,7 @@
       <inertia ixx="0.01" ixy="-8.99183e-06" ixz="5.52411e-05" iyy="0.01" iyz="1.03371e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -192,7 +192,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -213,7 +213,7 @@
       <inertia ixx="0.01" ixy="-2.30708e-05" ixz="-3.07725e-05" iyy="0.01" iyz="-0.00132237" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.031650000000000005 0.07440000000000001 0.8856000000000002" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -222,7 +222,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -257,7 +257,7 @@
       <inertia ixx="0.01" ixy="0.0" ixz="-4.27001e-09" iyy="0.01" iyz="3.29086e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.015599999999999463 0.07440000000000031 0.9335" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -266,7 +266,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -292,7 +292,7 @@
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@@ -2264,7 +2264,7 @@
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     </inertial>
     <visual>
-      <origin xyz="0.02904319388181435 -0.19871027157305793 0.2940034586718241" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2273,7 +2273,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2294,7 +2294,7 @@
       <inertia ixx="0.01" ixy="5.70823e-09" ixz="4.71528e-08" iyy="0.01" iyz="-4.56705e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.019850644138777407 -0.19871010849351842 0.3247170818738366" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2303,7 +2303,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2324,7 +2324,7 @@
       <inertia ixx="0.01" ixy="1.8521e-07" ixz="7.98775e-07" iyy="0.01" iyz="-6.45784e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.019850732699259722 -0.19720947570560032 0.35471630507241264" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2333,7 +2333,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2438,7 +2438,7 @@
       <inertia ixx="0.01" ixy="2.33291e-09" ixz="5.3584e-08" iyy="0.01" iyz="-2.42237e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.01617835428392994 -0.19875945050109686 0.32982571996156645" rpy="0.12008501986317731 0.2297882840735942 1.8533146530335884"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2447,7 +2447,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2468,7 +2468,7 @@
       <inertia ixx="0.01" ixy="1.239e-07" ixz="8.75068e-07" iyy="0.01" iyz="-3.99253e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.016178446836467256 -0.19793324107587792 0.3594559877864297" rpy="0.11954926259843997 0.22799029281164018 1.8531928341958708"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2477,7 +2477,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2582,7 +2582,7 @@
       <inertia ixx="0.01" ixy="-2.06718e-06" ixz="-4.99381e-07" iyy="0.01" iyz="-2.5225e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2591,7 +2591,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2612,7 +2612,7 @@
       <inertia ixx="0.01" ixy="-1.15428e-08" ixz="-1.55154e-08" iyy="0.01" iyz="-2.43359e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2621,7 +2621,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2642,7 +2642,7 @@
       <inertia ixx="0.01" ixy="-6.71818e-07" ixz="-3.37336e-07" iyy="0.01" iyz="-6.24005e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2651,7 +2651,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2756,7 +2756,7 @@
       <inertia ixx="0.01" ixy="-2.91649e-09" ixz="3.31954e-08" iyy="0.01" iyz="-2.28393e-09" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2765,7 +2765,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2786,7 +2786,7 @@
       <inertia ixx="0.01" ixy="3.5901e-08" ixz="7.27944e-07" iyy="0.01" iyz="-1.07962e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2795,7 +2795,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <box size="0.0 0.0 0.0"/>
       </geometry>
@@ -2904,8 +2904,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_foot_front_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
+    <parent link="l_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_rear_ft_imu" type="imu">
@@ -2918,8 +2918,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_foot_rear_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
+    <parent link="l_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="r_ankle_2">
     <sensor name="r_foot_front_ft_imu" type="imu">
@@ -2932,8 +2932,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_foot_front_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
+    <parent link="r_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="r_ankle_2">
     <sensor name="r_foot_rear_ft_imu" type="imu">
@@ -2946,8 +2946,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_foot_rear_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
+    <parent link="r_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="l_shoulder_2">
     <sensor name="l_arm_ft_imu" type="imu">
@@ -2960,8 +2960,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_arm_ft_imu" type="accelerometer">
-    <parent link="l_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
+    <parent link="l_shoulder_2"/>
+    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430"/>
   </sensor>
   <gazebo reference="r_shoulder_2">
     <sensor name="r_arm_ft_imu" type="imu">
@@ -2974,8 +2974,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_arm_ft_imu" type="accelerometer">
-    <parent link="r_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
+    <parent link="r_shoulder_2"/>
+    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_leg_ft_imu" type="imu">
@@ -2988,8 +2988,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_leg_ft_imu" type="accelerometer">
-    <parent link="l_hip_2" />
-    <origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970" />
+    <parent link="l_hip_2"/>
+    <origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970"/>
   </sensor>
   <gazebo reference="r_hip_2">
     <sensor name="r_leg_ft_imu" type="imu">
@@ -3002,8 +3002,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_leg_ft_imu" type="accelerometer">
-    <parent link="r_hip_2" />
-    <origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970" />
+    <parent link="r_hip_2"/>
+    <origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970"/>
   </sensor>
   <link name="waist_imu_0"/>
   <joint name="waist_imu_0_fixed_joint" type="fixed">
@@ -3040,12 +3040,12 @@
 </joint>
   <gazebo reference="r_arm_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo>
@@ -3082,17 +3082,17 @@
 </gazebo>
   <gazebo reference="l_leg_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_front_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_rear_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_front">
@@ -3148,17 +3148,17 @@
 </gazebo>
   <gazebo reference="r_leg_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_front_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_rear_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_front">
@@ -3611,4 +3611,4 @@
   <gazebo>
     <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
   </gazebo>
-</robot>
+</robot>
\ No newline at end of file
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
index 621fc174..c1a00c4c 100644
--- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -6,7 +6,7 @@
       <inertia ixx="0.00438007" ixy="-1.4369e-06" ixz="1.40984e-05" iyy="0.00563065" iyz="-2.32994e-05" izz="0.00361668"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -15,7 +15,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -28,7 +28,7 @@
       <inertia ixx="0.00269555" ixy="6.12663e-05" ixz="6.44179e-06" iyy="0.00221227" iyz="1.50337e-05" izz="0.00246089"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -58,7 +58,7 @@
       <inertia ixx="0.00541315" ixy="-2.23165e-06" ixz="-6.93678e-07" iyy="0.0030844" iyz="-0.000989285" izz="0.00339693"/>
     </inertial>
     <visual>
-      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -67,7 +67,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -95,7 +95,7 @@
       <inertia ixx="0.00814902" ixy="-3.4988e-05" ixz="-0.000125736" iyy="0.00719326" iyz="-2.4103e-05" izz="0.00572783"/>
     </inertial>
     <visual>
-      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -104,7 +104,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -123,7 +123,7 @@
       <inertia ixx="0.0121093" ixy="-5.45559e-05" ixz="-0.000403319" iyy="0.0118603" iyz="-0.000539364" izz="0.00226097"/>
     </inertial>
     <visual>
-      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -132,7 +132,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -153,7 +153,7 @@
       <inertia ixx="0.0472543" ixy="-3.40915e-05" ixz="-0.0018183" iyy="0.0460139" iyz="0.000851474" izz="0.00478515"/>
     </inertial>
     <visual>
-      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
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       </geometry>
@@ -2756,7 +2756,7 @@
       <inertia ixx="3.02032e-07" ixy="-2.91649e-09" ixz="3.31954e-08" iyy="3.0208e-07" iyz="-2.28393e-09" izz="1.5695e-07"/>
     </inertial>
     <visual>
-      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2765,7 +2765,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2786,7 +2786,7 @@
       <inertia ixx="2.55812e-06" ixy="3.5901e-08" ixz="7.27944e-07" iyy="2.79071e-06" iyz="-1.07962e-07" izz="5.17012e-07"/>
     </inertial>
     <visual>
-      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2795,7 +2795,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -2904,8 +2904,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_foot_front_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
+    <parent link="l_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_rear_ft_imu" type="imu">
@@ -2918,8 +2918,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_foot_rear_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
+    <parent link="l_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="r_ankle_2">
     <sensor name="r_foot_front_ft_imu" type="imu">
@@ -2932,8 +2932,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_foot_front_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
+    <parent link="r_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="r_ankle_2">
     <sensor name="r_foot_rear_ft_imu" type="imu">
@@ -2946,8 +2946,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_foot_rear_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2" />
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
+    <parent link="r_ankle_2"/>
+    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
   </sensor>
   <gazebo reference="l_shoulder_2">
     <sensor name="l_arm_ft_imu" type="imu">
@@ -2960,8 +2960,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_arm_ft_imu" type="accelerometer">
-    <parent link="l_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430" />
+    <parent link="l_shoulder_2"/>
+    <origin rpy="3.14159265 -0.0 -1.57079633" xyz="-0.004350 0.0 -0.05430"/>
   </sensor>
   <gazebo reference="r_shoulder_2">
     <sensor name="r_arm_ft_imu" type="imu">
@@ -2974,8 +2974,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_arm_ft_imu" type="accelerometer">
-    <parent link="r_shoulder_2" />
-    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430" />
+    <parent link="r_shoulder_2"/>
+    <origin rpy="3.14159265 -0.0 1.57079633" xyz="-0.006850 0.0 -0.05430"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_leg_ft_imu" type="imu">
@@ -2988,8 +2988,8 @@
     </sensor>
   </gazebo>
   <sensor name="l_leg_ft_imu" type="accelerometer">
-    <parent link="l_hip_2" />
-    <origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970" />
+    <parent link="l_hip_2"/>
+    <origin rpy="3.14159265 -0.0 2.61799368" xyz="0.03670 0.0 -0.08970"/>
   </sensor>
   <gazebo reference="r_hip_2">
     <sensor name="r_leg_ft_imu" type="imu">
@@ -3002,8 +3002,8 @@
     </sensor>
   </gazebo>
   <sensor name="r_leg_ft_imu" type="accelerometer">
-    <parent link="r_hip_2" />
-    <origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970" />
+    <parent link="r_hip_2"/>
+    <origin rpy="3.14159265 -0.0 -2.61799368" xyz="0.03670 0.0 -0.08970"/>
   </sensor>
   <link name="waist_imu_0"/>
   <joint name="waist_imu_0_fixed_joint" type="fixed">
@@ -3040,12 +3040,12 @@
 </joint>
   <gazebo reference="r_arm_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo>
@@ -3082,17 +3082,17 @@
 </gazebo>
   <gazebo reference="l_leg_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_front_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_rear_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="l_foot_front">
@@ -3148,17 +3148,17 @@
 </gazebo>
   <gazebo reference="r_leg_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_front_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_rear_ft_sensor">
 <preserveFixedJoint>true</preserveFixedJoint>
-<!-- For compatibility with SDFormat < 4.4 -->
+
 <disableFixedJointLumping>true</disableFixedJointLumping>
 </gazebo>
   <gazebo reference="r_foot_front">
@@ -3611,4 +3611,4 @@
   <gazebo>
     <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
   </gazebo>
-</robot>
+</robot>
\ No newline at end of file

From b06e34eb949ec83339693e4b2837a4d76d20a44f Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Thu, 3 Oct 2024 16:53:37 +0200
Subject: [PATCH 2/5] Add .obj meshes + fix collision for the V1 soles

---
 .../ergoCub/robots/ergoCubGazeboV1/model.urdf | 264 ++++++++---------
 .../robots/ergoCubGazeboV1_1/model.urdf       | 256 ++++++++---------
 .../ergoCubGazeboV1_1_minContacts/model.urdf  | 132 ++++-----
 .../robots/ergoCubGazeboV1_2/model.urdf       | 256 ++++++++---------
 .../ergoCubGazeboV1_2_minContacts/model.urdf  | 132 ++++-----
 .../ergoCubGazeboV1_minContacts/model.urdf    | 140 ++++-----
 urdf/ergoCub/robots/ergoCubSN000/model.urdf   | 272 +++++++++---------
 urdf/ergoCub/robots/ergoCubSN002/model.urdf   | 256 ++++++++---------
 8 files changed, 854 insertions(+), 854 deletions(-)

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
index 9a5ba726..9e162bf5 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -8,7 +8,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="root_link_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -17,7 +17,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -30,7 +30,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -39,7 +39,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -60,7 +60,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -69,7 +69,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -97,7 +97,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -106,7 +106,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -125,7 +125,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_upper_leg_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -134,7 +134,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -155,7 +155,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_lower_leg_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -164,7 +164,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -185,7 +185,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_ankle_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -194,7 +194,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -215,7 +215,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_ankle_2_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -224,7 +224,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -259,14 +259,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_foot_rear_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -294,14 +294,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_foot_front_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -322,7 +322,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -331,7 +331,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -352,7 +352,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -361,7 +361,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -389,7 +389,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -398,7 +398,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -417,7 +417,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_upper_leg_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -426,7 +426,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -447,7 +447,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_lower_leg_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -456,7 +456,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -477,7 +477,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_ankle_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -486,7 +486,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -507,7 +507,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_ankle_2_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -516,7 +516,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -551,14 +551,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_foot_front_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -579,14 +579,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_foot_rear_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -614,7 +614,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="torso_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -623,7 +623,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -644,7 +644,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="torso_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -653,7 +653,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -674,7 +674,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="chest_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -683,7 +683,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -704,7 +704,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="neck_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -713,7 +713,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -734,7 +734,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="neck_3_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -743,7 +743,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -764,7 +764,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="head_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -773,7 +773,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -808,7 +808,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -817,7 +817,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -852,7 +852,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -861,7 +861,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -882,7 +882,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -891,7 +891,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -919,7 +919,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_3_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -928,7 +928,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -947,7 +947,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -956,7 +956,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -977,7 +977,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_forearm_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -986,7 +986,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1007,7 +1007,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_wrist_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -1016,7 +1016,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1037,7 +1037,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -1046,7 +1046,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1067,7 +1067,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -1076,7 +1076,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1097,7 +1097,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -1106,7 +1106,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1127,7 +1127,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -1136,7 +1136,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1241,7 +1241,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="cyan">
         <color rgba="0 1 1 1"/>
@@ -1250,7 +1250,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -1280,7 +1280,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -1301,7 +1301,7 @@
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@@ -1310,7 +1310,7 @@
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@@ -1424,7 +1424,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -1454,7 +1454,7 @@
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@@ -1559,7 +1559,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1568,7 +1568,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1589,7 +1589,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1598,7 +1598,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1712,7 +1712,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1733,7 +1733,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1742,7 +1742,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1763,7 +1763,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1772,7 +1772,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1877,7 +1877,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1886,7 +1886,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1907,7 +1907,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1916,7 +1916,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1944,7 +1944,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1953,7 +1953,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1972,7 +1972,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj" scale="0.001 0.001 0.001"/>
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       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -1981,7 +1981,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj" scale="0.001 0.001 0.001"/>
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@@ -2002,7 +2002,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_forearm_color">
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@@ -2011,7 +2011,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj" scale="0.001 0.001 0.001"/>
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@@ -2032,7 +2032,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="l_wrist_1_color">
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@@ -2041,7 +2041,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2062,7 +2062,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2071,7 +2071,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2092,7 +2092,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
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@@ -2101,7 +2101,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
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@@ -2122,7 +2122,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2131,7 +2131,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2152,7 +2152,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2161,7 +2161,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2266,7 +2266,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2275,7 +2275,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2296,7 +2296,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2305,7 +2305,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2326,7 +2326,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -2335,7 +2335,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -2440,7 +2440,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2449,7 +2449,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2470,7 +2470,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -2479,7 +2479,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2584,7 +2584,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -2593,7 +2593,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2614,7 +2614,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -2623,7 +2623,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2644,7 +2644,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -2653,7 +2653,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2758,7 +2758,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -2767,7 +2767,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2788,7 +2788,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="cyan">
         <color rgba="0 1 1 1"/>
@@ -2797,7 +2797,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
index 5857e148..8162f872 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -18,7 +18,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -42,7 +42,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -51,7 +51,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -75,7 +75,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -84,7 +84,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -108,7 +108,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -117,7 +117,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -141,7 +141,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -150,7 +150,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -174,7 +174,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -183,7 +183,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -207,7 +207,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -216,7 +216,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -240,7 +240,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -249,7 +249,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -273,7 +273,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -282,7 +282,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -306,7 +306,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -315,7 +315,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -336,7 +336,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -345,7 +345,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -369,7 +369,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -378,7 +378,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -402,7 +402,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -411,7 +411,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -435,7 +435,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -444,7 +444,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -468,7 +468,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -477,7 +477,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -501,7 +501,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -510,7 +510,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -534,7 +534,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -543,7 +543,7 @@
     <collision>
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2040,7 +2040,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2064,7 +2064,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
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@@ -2073,7 +2073,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2094,7 +2094,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
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@@ -2121,7 +2121,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
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diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
index 83ae280f..d51e3c4d 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -9,7 +9,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -39,7 +39,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -69,7 +69,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
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         <color rgba="0.6 0.6 0.6 1"/>
@@ -99,7 +99,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -129,7 +129,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
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         <color rgba="0.6 0.6 0.6 1"/>
@@ -159,7 +159,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -189,7 +189,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -219,7 +219,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -249,7 +249,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
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@@ -279,7 +279,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
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@@ -306,7 +306,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
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@@ -336,7 +336,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
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@@ -366,7 +366,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
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@@ -396,7 +396,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
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@@ -426,7 +426,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
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@@ -456,7 +456,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -486,7 +486,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -516,7 +516,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -546,7 +546,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -576,7 +576,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -606,7 +606,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -636,7 +636,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -666,7 +666,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
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@@ -696,7 +696,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
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@@ -726,7 +726,7 @@
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       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -756,7 +756,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -786,7 +786,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -816,7 +816,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -846,7 +846,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_2.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -873,7 +873,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.obj" scale="0.001 0.001 0.001"/>
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@@ -903,7 +903,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.obj" scale="0.001 0.001 0.001"/>
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@@ -933,7 +933,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -963,7 +963,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.obj" scale="0.001 0.001 0.001"/>
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@@ -993,7 +993,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1023,7 +1023,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
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@@ -1053,7 +1053,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1083,7 +1083,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1113,7 +1113,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1143,7 +1143,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1173,7 +1173,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1203,7 +1203,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1233,7 +1233,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1263,7 +1263,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1293,7 +1293,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1323,7 +1323,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1353,7 +1353,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1383,7 +1383,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1413,7 +1413,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1443,7 +1443,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1473,7 +1473,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1503,7 +1503,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1530,7 +1530,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1560,7 +1560,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1590,7 +1590,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1620,7 +1620,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1650,7 +1650,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1677,7 +1677,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -1704,7 +1704,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -1734,7 +1734,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1761,7 +1761,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1791,7 +1791,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1821,7 +1821,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1851,7 +1851,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1881,7 +1881,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1908,7 +1908,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -1935,7 +1935,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf
index 0d7e4f15..e1ef2759 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_2/model.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -18,7 +18,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -42,7 +42,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -51,7 +51,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -75,7 +75,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -84,7 +84,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -108,7 +108,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -117,7 +117,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -141,7 +141,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -150,7 +150,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -174,7 +174,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -183,7 +183,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -207,7 +207,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -216,7 +216,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -240,7 +240,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -249,7 +249,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -273,7 +273,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1749,7 +1749,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1758,7 +1758,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1782,7 +1782,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
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@@ -1791,7 +1791,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1815,7 +1815,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
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@@ -1824,7 +1824,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1845,7 +1845,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -1872,7 +1872,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -1902,7 +1902,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1911,7 +1911,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1932,7 +1932,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1941,7 +1941,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -1965,7 +1965,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1974,7 +1974,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1998,7 +1998,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2007,7 +2007,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2031,7 +2031,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -2040,7 +2040,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -2064,7 +2064,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2073,7 +2073,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2094,7 +2094,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -2121,7 +2121,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
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diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf
index 3d906943..0bf38354 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/model.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -39,7 +39,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -69,7 +69,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -99,7 +99,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -129,7 +129,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -159,7 +159,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -189,7 +189,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -219,7 +219,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -249,7 +249,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -279,7 +279,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -306,7 +306,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -336,7 +336,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -366,7 +366,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -396,7 +396,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -426,7 +426,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -456,7 +456,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -486,7 +486,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -516,7 +516,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -546,7 +546,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -576,7 +576,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -606,7 +606,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -636,7 +636,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
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@@ -816,7 +816,7 @@
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@@ -846,7 +846,7 @@
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@@ -873,7 +873,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.stl" scale="0.001 0.001 0.001"/>
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@@ -903,7 +903,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.obj" scale="0.001 0.001 0.001"/>
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@@ -933,7 +933,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj" scale="0.001 0.001 0.001"/>
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@@ -963,7 +963,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.stl" scale="0.001 0.001 0.001"/>
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@@ -993,7 +993,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.stl" scale="0.001 0.001 0.001"/>
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@@ -1023,7 +1023,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.stl" scale="0.001 0.001 0.001"/>
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@@ -1083,7 +1083,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.stl" scale="0.001 0.001 0.001"/>
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@@ -1113,7 +1113,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1143,7 +1143,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.stl" scale="0.001 0.001 0.001"/>
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@@ -1173,7 +1173,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1203,7 +1203,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1233,7 +1233,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1263,7 +1263,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1293,7 +1293,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -1323,7 +1323,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1353,7 +1353,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -1383,7 +1383,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1413,7 +1413,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -1443,7 +1443,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
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         <color rgba="1 1 1 1"/>
@@ -1473,7 +1473,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.obj" scale="0.001 0.001 0.001"/>
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@@ -1503,7 +1503,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1530,7 +1530,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1560,7 +1560,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
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@@ -1590,7 +1590,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
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@@ -1620,7 +1620,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -1650,7 +1650,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1677,7 +1677,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj" scale="0.001 0.001 0.001"/>
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@@ -1704,7 +1704,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
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@@ -1734,7 +1734,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1761,7 +1761,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1791,7 +1791,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
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@@ -1821,7 +1821,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
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@@ -1851,7 +1851,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
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@@ -1881,7 +1881,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1908,7 +1908,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001"/>
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       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -1935,7 +1935,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
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diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
index e8a712c4..ae168415 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -8,7 +8,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="root_link_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -30,7 +30,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -60,7 +60,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -97,7 +97,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -125,7 +125,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_upper_leg_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -155,7 +155,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_lower_leg_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -185,7 +185,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_ankle_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -215,7 +215,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_ankle_2_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -259,14 +259,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_foot_rear_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -294,14 +294,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_foot_front_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -322,7 +322,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -352,7 +352,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -389,7 +389,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -417,7 +417,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_upper_leg_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -447,7 +447,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_lower_leg_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -477,7 +477,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_ankle_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -507,7 +507,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_ankle_2_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -551,14 +551,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_foot_front_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -579,14 +579,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_foot_rear_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -614,7 +614,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="torso_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -644,7 +644,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="torso_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -674,7 +674,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="chest_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -704,7 +704,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="neck_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -734,7 +734,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="neck_3_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -764,7 +764,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="head_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -808,7 +808,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -852,7 +852,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -882,7 +882,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -919,7 +919,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_3_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -947,7 +947,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -977,7 +977,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_forearm_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -1007,7 +1007,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_wrist_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -1037,7 +1037,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -1067,7 +1067,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -1097,7 +1097,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -1127,7 +1127,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -1241,7 +1241,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="cyan">
         <color rgba="0 1 1 1"/>
@@ -1271,7 +1271,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -1301,7 +1301,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
@@ -1415,7 +1415,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dblue">
         <color rgba="0 0 0.8 1"/>
@@ -1445,7 +1445,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dgreen">
         <color rgba="0.1 0.8 0.1 1"/>
@@ -1559,7 +1559,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="gray">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -1589,7 +1589,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -1703,7 +1703,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -1733,7 +1733,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -1763,7 +1763,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -1877,7 +1877,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_shoulder_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -1907,7 +1907,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_shoulder_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -1944,7 +1944,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_shoulder_3_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -1972,7 +1972,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -2002,7 +2002,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_forearm_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -2032,7 +2032,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_wrist_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
@@ -2062,7 +2062,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -2092,7 +2092,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="cyan">
         <color rgba="0 1 1 1"/>
@@ -2122,7 +2122,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -2152,7 +2152,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
@@ -2266,7 +2266,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dblue">
         <color rgba="0 0 0.8 1"/>
@@ -2296,7 +2296,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dgreen">
         <color rgba="0.1 0.8 0.1 1"/>
@@ -2326,7 +2326,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="gray">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -2440,7 +2440,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -2470,7 +2470,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -2584,7 +2584,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -2614,7 +2614,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -2644,7 +2644,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -2758,7 +2758,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -2788,7 +2788,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="cyan">
         <color rgba="0 1 1 1"/>
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
index c1a00c4c..2b4e04a1 100644
--- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -8,7 +8,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="root_link_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -17,7 +17,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -30,7 +30,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -39,7 +39,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -60,7 +60,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -69,7 +69,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -97,7 +97,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -106,7 +106,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -125,7 +125,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_upper_leg_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -134,7 +134,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -155,7 +155,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_lower_leg_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -164,7 +164,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -185,7 +185,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_ankle_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -194,7 +194,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -215,7 +215,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_ankle_2_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -224,7 +224,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -259,16 +259,16 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_foot_rear_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -294,16 +294,16 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_foot_front_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -322,7 +322,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -331,7 +331,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -352,7 +352,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -361,7 +361,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -389,7 +389,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -398,7 +398,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -417,7 +417,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_upper_leg_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -426,7 +426,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -447,7 +447,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_lower_leg_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -456,7 +456,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -477,7 +477,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_ankle_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -486,7 +486,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -507,7 +507,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_ankle_2_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -516,7 +516,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -551,16 +551,16 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_foot_front_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -579,16 +579,16 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_foot_rear_color">
         <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.0193" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -614,7 +614,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="torso_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -623,7 +623,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -644,7 +644,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="torso_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -653,7 +653,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -674,7 +674,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="chest_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -683,7 +683,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -704,7 +704,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="neck_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -713,7 +713,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -734,7 +734,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="neck_3_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -743,7 +743,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -764,7 +764,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="head_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -773,7 +773,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -808,7 +808,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -817,7 +817,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -852,7 +852,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -861,7 +861,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -882,7 +882,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -891,7 +891,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -919,7 +919,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_shoulder_3_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -928,7 +928,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -947,7 +947,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -956,7 +956,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -977,7 +977,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_forearm_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -986,7 +986,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1007,7 +1007,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="r_wrist_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1016,7 +1016,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1037,7 +1037,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -1046,7 +1046,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1067,7 +1067,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -1076,7 +1076,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -1097,7 +1097,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -1106,7 +1106,7 @@
     <collision>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1127,7 +1127,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1136,7 +1136,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1241,7 +1241,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1250,7 +1250,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1271,7 +1271,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1280,7 +1280,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1301,7 +1301,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1310,7 +1310,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1415,7 +1415,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1424,7 +1424,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1445,7 +1445,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1454,7 +1454,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1559,7 +1559,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1568,7 +1568,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1589,7 +1589,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1598,7 +1598,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1703,7 +1703,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1712,7 +1712,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1733,7 +1733,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1742,7 +1742,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1763,7 +1763,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1772,7 +1772,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1877,7 +1877,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_shoulder_1_color">
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@@ -1886,7 +1886,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
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@@ -1907,7 +1907,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj" scale="0.001 0.001 0.001"/>
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       <material name="l_shoulder_2_color">
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@@ -1916,7 +1916,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj" scale="0.001 0.001 0.001"/>
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@@ -1944,7 +1944,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj" scale="0.001 0.001 0.001"/>
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       <material name="l_shoulder_3_color">
         <color rgba="0.7 0.7 0.7 1"/>
@@ -1953,7 +1953,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj" scale="0.001 0.001 0.001"/>
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@@ -1972,7 +1972,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -1981,7 +1981,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj" scale="0.001 0.001 0.001"/>
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@@ -2002,7 +2002,7 @@
     <visual>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_forearm_color">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -2011,7 +2011,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj" scale="0.001 0.001 0.001"/>
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@@ -2032,7 +2032,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="l_wrist_1_color">
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@@ -2041,7 +2041,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2062,7 +2062,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2071,7 +2071,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2092,7 +2092,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
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@@ -2101,7 +2101,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj" scale="0.001 0.001 0.001"/>
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@@ -2122,7 +2122,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2131,7 +2131,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2152,7 +2152,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2161,7 +2161,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2266,7 +2266,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2275,7 +2275,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj" scale="0.001 0.001 0.001"/>
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@@ -2296,7 +2296,7 @@
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2305,7 +2305,7 @@
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-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj" scale="0.001 0.001 0.001"/>
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@@ -2326,7 +2326,7 @@
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="gray">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -2335,7 +2335,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2440,7 +2440,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -2449,7 +2449,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2470,7 +2470,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
@@ -2479,7 +2479,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2584,7 +2584,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
@@ -2593,7 +2593,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2614,7 +2614,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
@@ -2623,7 +2623,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2644,7 +2644,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -2653,7 +2653,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2758,7 +2758,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -2767,7 +2767,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -2788,7 +2788,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="cyan">
         <color rgba="0 1 1 1"/>
@@ -2797,7 +2797,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
diff --git a/urdf/ergoCub/robots/ergoCubSN002/model.urdf b/urdf/ergoCub/robots/ergoCubSN002/model.urdf
index e1d4999a..52b975ea 100644
--- a/urdf/ergoCub/robots/ergoCubSN002/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN002/model.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -18,7 +18,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -42,7 +42,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -51,7 +51,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -75,7 +75,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -84,7 +84,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -108,7 +108,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -117,7 +117,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -141,7 +141,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -150,7 +150,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -174,7 +174,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -183,7 +183,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -207,7 +207,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -216,7 +216,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -240,7 +240,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -249,7 +249,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -273,7 +273,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -282,7 +282,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -306,7 +306,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -315,7 +315,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -336,7 +336,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -345,7 +345,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -369,7 +369,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -378,7 +378,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -402,7 +402,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -411,7 +411,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -435,7 +435,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -444,7 +444,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -468,7 +468,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -477,7 +477,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
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       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1974,7 +1974,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -1998,7 +1998,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2007,7 +2007,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2031,7 +2031,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -2040,7 +2040,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -2064,7 +2064,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2073,7 +2073,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2094,7 +2094,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -2121,7 +2121,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>

From d3aac4f779e44c1c184c83e51798d699cd251452 Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Thu, 3 Oct 2024 17:28:59 +0200
Subject: [PATCH 3/5] fixup

---
 urdf/ergoCub/robots/ergoCubSN001/model.urdf | 256 ++++++++++----------
 1 file changed, 128 insertions(+), 128 deletions(-)

diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
index 79d3176b..f93a07bc 100644
--- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -18,7 +18,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -42,7 +42,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -51,7 +51,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -75,7 +75,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -84,7 +84,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -108,7 +108,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -117,7 +117,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -141,7 +141,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -150,7 +150,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -174,7 +174,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -183,7 +183,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -207,7 +207,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -216,7 +216,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -240,7 +240,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -249,7 +249,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -273,7 +273,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -282,7 +282,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -306,7 +306,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -315,7 +315,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -336,7 +336,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -345,7 +345,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -369,7 +369,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -378,7 +378,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -402,7 +402,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -411,7 +411,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -435,7 +435,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -444,7 +444,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -468,7 +468,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -477,7 +477,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -501,7 +501,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -510,7 +510,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -534,7 +534,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -543,7 +543,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -567,7 +567,7 @@
     <visual>
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       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="0.6 0.6 0.6 1"/>
@@ -2064,7 +2064,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2073,7 +2073,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 1 1 1"/>
@@ -2094,7 +2094,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>
@@ -2121,7 +2121,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="">
         <color rgba="1 0.51 0 1"/>

From 59eb54eb70bb5f88d009f56a9c896d77c7750db4 Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Fri, 4 Oct 2024 13:51:09 +0200
Subject: [PATCH 4/5] Update yml accordingly to the obj files

---
 urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml | 2 +-
 urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml b/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
index a726a870..52f431b5 100644
--- a/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
+++ b/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
@@ -6,7 +6,7 @@ originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]
-filenameformat: "package://ergoCub/meshes/simmechanics/%s.stl"
+filenameformat: "package://ergoCub/meshes/simmechanics/%s.obj"
 epsilon: 2e-4
 
 forcelowercase: Yes
diff --git a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
index c584baec..93c01662 100644
--- a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
+++ b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
@@ -6,7 +6,7 @@ originXYZ: [0.0,0.0,0.80]
 originRPY: [0.0,0.0,0.0]
 # Meshes options
 scale: [0.001,0.001,0.001]
-filenameformat: "package://ergoCub/meshes/simmechanics/%s.stl"
+filenameformat: "package://ergoCub/meshes/simmechanics/%s.obj"
 epsilon: 2e-4
 
 forcelowercase: Yes

From 5e075c12c07cd6cfcf1938d2664ad68964640b56 Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Fri, 4 Oct 2024 13:51:31 +0200
Subject: [PATCH 5/5] Add the new meshes

---
 .../simmechanics/sim_ecub_1-1_chest.obj.mtl   | 37 +++++++++++++++++++
 .../simmechanics/sim_ecub_1-1_head.obj.mtl    | 37 +++++++++++++++++++
 .../sim_ecub_1-1_head_neck_2.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_head_neck_3.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_l_ankle_1.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_l_ankle_2.obj.mtl            | 21 +++++++++++
 .../sim_ecub_1-1_l_foot_front.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_l_foot_rear.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_l_forearm.obj.mtl            | 37 +++++++++++++++++++
 .../sim_ecub_1-1_l_hand_index_1.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_l_hand_index_2.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_l_hand_index_3.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_l_hand_middle_1.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_l_hand_middle_2.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_l_hand_palm.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_l_hand_pinkie_1.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_l_hand_pinkie_2.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_l_hand_ring_1.obj.mtl        | 13 +++++++
 .../sim_ecub_1-1_l_hand_ring_2.obj.mtl        | 13 +++++++
 .../sim_ecub_1-1_l_hand_thumb_1.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_l_hand_thumb_2.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_l_hand_thumb_3.obj.mtl       | 13 +++++++
 .../simmechanics/sim_ecub_1-1_l_hip_1.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_1-1_l_hip_2.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_1-1_l_hip_3.obj.mtl | 37 +++++++++++++++++++
 .../sim_ecub_1-1_l_lower_leg.obj.mtl          | 37 +++++++++++++++++++
 .../sim_ecub_1-1_l_shoulder_1.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_l_shoulder_2.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_l_shoulder_3.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_l_upper_leg.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_l_upperarm.obj.mtl           | 37 +++++++++++++++++++
 .../sim_ecub_1-1_l_wrist_1.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_l_wrist_2.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_r_ankle_1.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_r_ankle_2.obj.mtl            | 21 +++++++++++
 .../sim_ecub_1-1_r_foot_front.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_r_foot_rear.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_r_forearm.obj.mtl            | 37 +++++++++++++++++++
 .../sim_ecub_1-1_r_hand_index_1.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_r_hand_index_2.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_r_hand_index_3.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_r_hand_middle_1.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_r_hand_middle_2.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_r_hand_palm.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_r_hand_pinkie_1.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_r_hand_pinkie_2.obj.mtl      | 13 +++++++
 .../sim_ecub_1-1_r_hand_ring_1.obj.mtl        | 13 +++++++
 .../sim_ecub_1-1_r_hand_ring_2.obj.mtl        | 13 +++++++
 .../sim_ecub_1-1_r_hand_thumb_1.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_r_hand_thumb_2.obj.mtl       | 13 +++++++
 .../sim_ecub_1-1_r_hand_thumb_3.obj.mtl       | 13 +++++++
 .../simmechanics/sim_ecub_1-1_r_hip_1.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_1-1_r_hip_2.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_1-1_r_hip_3.obj.mtl | 37 +++++++++++++++++++
 .../sim_ecub_1-1_r_lower_leg.obj.mtl          | 37 +++++++++++++++++++
 .../sim_ecub_1-1_r_shoulder_1.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_r_shoulder_2.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_r_shoulder_3.obj.mtl         | 13 +++++++
 .../sim_ecub_1-1_r_upper_leg.obj.mtl          | 13 +++++++
 .../sim_ecub_1-1_r_upperarm.obj.mtl           | 37 +++++++++++++++++++
 .../sim_ecub_1-1_r_wrist_1.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_r_wrist_2.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_realsense.obj.mtl            | 13 +++++++
 .../sim_ecub_1-1_root_link.obj.mtl            | 13 +++++++
 .../simmechanics/sim_ecub_1-1_torso_1.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_1-1_torso_2.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_chest.obj.mtl       | 37 +++++++++++++++++++
 .../meshes/simmechanics/sim_ecub_head.obj.mtl | 37 +++++++++++++++++++
 .../simmechanics/sim_ecub_head_neck_2.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_head_neck_3.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_l_ankle_1.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_l_ankle_2.obj.mtl   | 21 +++++++++++
 .../sim_ecub_l_foot_front.obj.mtl             | 13 +++++++
 .../simmechanics/sim_ecub_l_foot_rear.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_l_forearm.obj.mtl   | 37 +++++++++++++++++++
 .../sim_ecub_l_hand_index_1.obj.mtl           | 13 +++++++
 .../sim_ecub_l_hand_index_2.obj.mtl           | 13 +++++++
 .../sim_ecub_l_hand_index_3.obj.mtl           | 13 +++++++
 .../sim_ecub_l_hand_middle_1.obj.mtl          | 13 +++++++
 .../sim_ecub_l_hand_middle_2.obj.mtl          | 13 +++++++
 .../simmechanics/sim_ecub_l_hand_palm.obj.mtl | 13 +++++++
 .../sim_ecub_l_hand_pinkie_1.obj.mtl          | 13 +++++++
 .../sim_ecub_l_hand_pinkie_2.obj.mtl          | 13 +++++++
 .../sim_ecub_l_hand_ring_1.obj.mtl            | 13 +++++++
 .../sim_ecub_l_hand_ring_2.obj.mtl            | 13 +++++++
 .../sim_ecub_l_hand_thumb_1.obj.mtl           | 13 +++++++
 .../sim_ecub_l_hand_thumb_2.obj.mtl           | 13 +++++++
 .../sim_ecub_l_hand_thumb_3.obj.mtl           | 13 +++++++
 .../simmechanics/sim_ecub_l_hip_1.obj.mtl     | 13 +++++++
 .../simmechanics/sim_ecub_l_hip_2.obj.mtl     | 13 +++++++
 .../simmechanics/sim_ecub_l_hip_3.obj.mtl     | 37 +++++++++++++++++++
 .../simmechanics/sim_ecub_l_lower_leg.obj.mtl | 29 +++++++++++++++
 .../sim_ecub_l_shoulder_1.obj.mtl             | 13 +++++++
 .../sim_ecub_l_shoulder_2.obj.mtl             | 13 +++++++
 .../sim_ecub_l_shoulder_3.obj.mtl             | 13 +++++++
 .../simmechanics/sim_ecub_l_upper_leg.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_l_upperarm.obj.mtl  | 37 +++++++++++++++++++
 .../simmechanics/sim_ecub_l_wrist_1.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_l_wrist_2.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_r_ankle_1.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_r_ankle_2.obj.mtl   | 21 +++++++++++
 .../sim_ecub_r_foot_front.obj.mtl             | 13 +++++++
 .../simmechanics/sim_ecub_r_foot_rear.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_r_forearm.obj.mtl   | 37 +++++++++++++++++++
 .../sim_ecub_r_hand_index_1.obj.mtl           | 13 +++++++
 .../sim_ecub_r_hand_index_2.obj.mtl           | 13 +++++++
 .../sim_ecub_r_hand_index_3.obj.mtl           | 13 +++++++
 .../sim_ecub_r_hand_middle_1.obj.mtl          | 13 +++++++
 .../sim_ecub_r_hand_middle_2.obj.mtl          | 13 +++++++
 .../simmechanics/sim_ecub_r_hand_palm.obj.mtl | 13 +++++++
 .../sim_ecub_r_hand_pinkie_1.obj.mtl          | 13 +++++++
 .../sim_ecub_r_hand_pinkie_2.obj.mtl          | 13 +++++++
 .../sim_ecub_r_hand_ring_1.obj.mtl            | 13 +++++++
 .../sim_ecub_r_hand_ring_2.obj.mtl            | 13 +++++++
 .../sim_ecub_r_hand_thumb_1.obj.mtl           | 13 +++++++
 .../sim_ecub_r_hand_thumb_2.obj.mtl           | 13 +++++++
 .../sim_ecub_r_hand_thumb_3.obj.mtl           | 13 +++++++
 .../simmechanics/sim_ecub_r_hip_1.obj.mtl     | 13 +++++++
 .../simmechanics/sim_ecub_r_hip_2.obj.mtl     | 13 +++++++
 .../simmechanics/sim_ecub_r_hip_3.obj.mtl     | 37 +++++++++++++++++++
 .../simmechanics/sim_ecub_r_lower_leg.obj.mtl | 29 +++++++++++++++
 .../sim_ecub_r_shoulder_1.obj.mtl             | 13 +++++++
 .../sim_ecub_r_shoulder_2.obj.mtl             | 13 +++++++
 .../sim_ecub_r_shoulder_3.obj.mtl             | 13 +++++++
 .../simmechanics/sim_ecub_r_upper_leg.obj.mtl | 13 +++++++
 .../simmechanics/sim_ecub_r_upperarm.obj.mtl  | 37 +++++++++++++++++++
 .../simmechanics/sim_ecub_r_wrist_1.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_r_wrist_2.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_realsense.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_root_link.obj.mtl   | 13 +++++++
 .../simmechanics/sim_ecub_torso_1.obj.mtl     | 13 +++++++
 .../simmechanics/sim_ecub_torso_2.obj.mtl     | 13 +++++++
 132 files changed, 2212 insertions(+)
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_chest.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_head.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj.mtl
 create mode 100644 urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj.mtl

diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj.mtl
new file mode 100644
index 00000000..cdb2eaa7
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.584314 0.584314 0.584314
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.333333 0.360784 0.380392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.631373 0.682353 0.745098
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj.mtl
new file mode 100644
index 00000000..97c84e26
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj.mtl
new file mode 100644
index 00000000..88974d53
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.000000 0.000000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hip_3.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_lower_leg.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_shoulder_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upper_leg.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_upperarm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_wrist_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj.mtl
new file mode 100644
index 00000000..97c84e26
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_ankle_2.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_front.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_foot_rear.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj.mtl
new file mode 100644
index 00000000..88974d53
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_forearm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.000000 0.000000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_3.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_index_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_middle_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_palm.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_pinkie_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_ring_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_3.obj.mtl
new file mode 100644
index 00000000..84c83636
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hand_thumb_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.980392 0.980392 0.980392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_hip_3.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_lower_leg.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_shoulder_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upper_leg.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj.mtl
new file mode 100644
index 00000000..232fda54
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_upperarm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.254902 0.411765 0.882353
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_r_wrist_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_realsense.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_root_link.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_torso_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest.obj.mtl
new file mode 100644
index 00000000..8bd95459
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head.obj.mtl
new file mode 100644
index 00000000..cdb2eaa7
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.584314 0.584314 0.584314
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 0.333333 0.360784 0.380392
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 0.631373 0.682353 0.745098
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj.mtl
new file mode 100644
index 00000000..788bdc88
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_front.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_foot_rear.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj.mtl
new file mode 100644
index 00000000..a87aca05
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_forearm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.000000 0.000000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_middle_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_palm.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_ring_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hand_thumb_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj.mtl
new file mode 100644
index 00000000..8bd95459
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_3.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj.mtl
new file mode 100644
index 00000000..086765cd
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_lower_leg.obj.mtl
@@ -0,0 +1,29 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.831373 0.831373 0.831373
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.800000 0.501961
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upper_leg.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj.mtl
new file mode 100644
index 00000000..8bd95459
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_upperarm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj.mtl
new file mode 100644
index 00000000..788bdc88
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_front.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_foot_rear.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj.mtl
new file mode 100644
index 00000000..a87aca05
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_forearm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.000000 0.000000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_palm.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_pinkie_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_ring_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj.mtl
new file mode 100644
index 00000000..adc5b96c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj.mtl
new file mode 100644
index 00000000..8bd95459
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj.mtl
new file mode 100644
index 00000000..086765cd
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg.obj.mtl
@@ -0,0 +1,29 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.831373 0.831373 0.831373
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.800000 0.501961
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj.mtl
new file mode 100644
index 00000000..8bd95459
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm.obj.mtl
@@ -0,0 +1,37 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.607843 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_2
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 0.600000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
+newmtl material_3
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj.mtl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj.mtl
new file mode 100644
index 00000000..9ef1d51c
--- /dev/null
+++ b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.658824 0.658824 0.658824
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+