diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl
index 1ba8a69a..6a8f447e 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_chest_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl
index 89b8373b..03daa262 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_neck_3_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl
index 241deed6..2f2b61dc 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl
index f536e35a..fac9ad6f 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_hip_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl
index 36e2d2f0..f4cd188a 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl
index 2757232e..7e33827f 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl
index 465f1578..c69f917e 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl
index b36f954c..e78b78ee 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl
index 0754ec3c..1bac8491 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl
index ef521972..58e67d25 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl
index b8df0a95..bb2a4361 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_torso_2_prt.stl differ
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
index 1d07b652..a55661d2 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -1,12 +1,12 @@
 <robot name="ergoCub">
   <link name="root_link">
     <inertial>
-      <origin xyz="0.00247235 -0.000154174 0.02343999999999999" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.82266"/>
-      <inertia ixx="0.00437951" ixy="-1.22684e-06" ixz="1.39583e-05" iyy="0.00562898" iyz="-2.30647e-05" izz="0.00361648"/>
+      <origin xyz="0.0024749 -0.000105079 0.02344999999999997" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.82375"/>
+      <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 -5e-05 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -15,2644 +15,2659 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -5e-05 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <link name="torso_1">
+  <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.00957343 0.000567919 0.0824068" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.01154"/>
-      <inertia ixx="0.00708754" ixy="6.65062e-06" ixz="-1.29175e-05" iyy="0.00580763" iyz="0.00072369" izz="0.00294356"/>
+      <origin xyz="-0.0040321 -0.028249399999999994 -0.0006740000000000079" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.23209"/>
+      <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 -5.000000000001411e-05 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="torso_1_color">
+      <material name="r_hip_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -5.000000000001411e-05 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_roll" type="revolute">
-    <origin xyz="0 0 0.060499999999999984" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
+  <joint name="r_hip_pitch" type="revolute">
+    <origin xyz="0.0211 -0.0505 0" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
     <parent link="root_link"/>
-    <child link="torso_1"/>
-    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
+    <child link="r_hip_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="torso_2">
+  <link name="r_hip_2">
     <inertial>
-      <origin xyz="0.00157247 0.00359887 0.02601949999999994" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.705163"/>
-      <inertia ixx="0.000667553" ixy="-4.17216e-06" ixz="6.9824e-05" iyy="0.0012589" iyz="5.39818e-06" izz="0.00114569"/>
+      <origin xyz="-0.004133600000000001 -4.650000000000487e-05 -0.03744" rpy="0 0 1.5707963267948966"/>
+      <mass value="1.8336"/>
+      <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 -4.9999999999999894e-05 0" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="torso_2_color">
+      <material name="r_hip_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -4.9999999999999894e-05 0" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_pitch" type="revolute">
-    <origin xyz="0 0 0.11800000000000006" rpy="0 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="torso_1"/>
-    <child link="torso_2"/>
-    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
+  <joint name="r_hip_roll" type="revolute">
+    <origin xyz="-0.04725 -0.03309999999999999 -0.009000000000000008" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="r_hip_1"/>
+    <child link="r_hip_2"/>
+    <limit effort="50000" lower="-0.17453292519943295" upper="1.9547687622336491" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="chest">
+  <link name="r_hip_3">
     <inertial>
-      <origin xyz="-0.010721 -0.00035277700000000003 0.07611099999999998" rpy="0 0 1.5707963267948966"/>
-      <mass value="8.06547"/>
-      <inertia ixx="0.0449389" ixy="-0.000176245" ixz="-0.000129104" iyy="0.0484548" iyz="0.000312401" izz="0.0306877"/>
+      <origin xyz="0.005150999999999999 0.012832099999999999 -0.051687999999999956" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.1479"/>
+      <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 -5.0000000000007924e-05 -0.06446999999999992" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="chest_color">
+      <material name="r_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -5.0000000000007924e-05 -0.06446999999999992" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_yaw" type="revolute">
-    <origin xyz="0 0 0.06446999999999994" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="torso_2"/>
-    <child link="chest"/>
-    <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="r_leg_ft_sensor" type="fixed">
+    <origin xyz="0.036699999999999997 0 -0.0897" rpy="0 0 0"/>
+    <parent link="r_hip_2"/>
+    <child link="r_hip_3"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_shoulder_1">
+  <link name="r_upper_leg">
     <inertial>
-      <origin xyz="0.00032607653388369573 -0.0955420804432296 0.0003884043171779872" rpy="0.45734294556344546 -0.12149383150453615 1.2287112550496297"/>
-      <mass value="0.792333"/>
-      <inertia ixx="0.01" ixy="-0.000205125" ixz="0.0001946" iyy="0.01" iyz="4.97721e-05" izz="0.01"/>
+      <origin xyz="0.008517482820396669 -0.014468510113492955 -0.12674999999999997" rpy="0 0 1.5707963267956018"/>
+      <mass value="2.78492"/>
+      <inertia ixx="0.0121093" ixy="-5.45559e-05" ixz="-0.000403319" iyy="0.0118603" iyz="-0.000539364" izz="0.00226097"/>
     </inertial>
     <visual>
-      <origin xyz="-0.03736455866996381 0.0786663640924054 -0.16523200446151448" rpy="0.45734294556344546 -0.12149383150453615 1.2287112550496297"/>
+      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
       <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_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_shoulder_1_color">
+      <material name="r_upper_leg_color">
         <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.03736455866996381 0.0786663640924054 -0.16523200446151448" rpy="0.45734294556344546 -0.12149383150453615 1.2287112550496297"/>
+      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
       <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_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_shoulder_pitch" type="revolute">
-    <origin xyz="-0.0204593 -0.041145 0.11657900000000002" rpy="-0.27424832783738673 -0.38925923297765797 0.3681645553764718"/>
-    <axis xyz="-3.4409606744501e-07 0.9999999783533522 4.2068387506866145e-07"/>
-    <parent link="chest"/>
-    <child link="r_shoulder_1"/>
-    <limit effort="50000" lower="-3.0543261909900767" upper="0.3490658503988659" velocity="120.0"/>
+  <joint name="r_hip_yaw" type="revolute">
+    <origin xyz="0 0.015 -0.07269999999999999" rpy="0 0 1.187379294776138e-06"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="r_hip_3"/>
+    <child link="r_upper_leg"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_2">
+  <link name="r_lower_leg">
     <inertial>
-      <origin xyz="0.005113569084782336 -0.00021356072357139877 -0.020425582617945248" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
-      <mass value="0.439227"/>
-      <inertia ixx="0.01" ixy="5.0249e-05" ixz="-6.50761e-05" iyy="0.01" iyz="7.8196e-05" izz="0.01"/>
+      <origin xyz="0.0011584999999999998 0.006200199999999989 0.21425899999999998" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <mass value="3.74161"/>
+      <inertia ixx="0.0472543" ixy="-3.40915e-05" ixz="-0.0018183" iyy="0.0460139" iyz="0.000851474" izz="0.00478515"/>
     </inertial>
     <visual>
-      <origin xyz="0.013901412308925503 0.19966640414374212 -0.1680465779300939" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
       <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_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_shoulder_2_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="r_lower_leg_color">
+        <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.013901412308925503 0.19966640414374212 -0.1680465779300939" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
       <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_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007047626988282561 -0.1210001256259653 -0.0025653969156163303" rpy="5.46356877807044e-07 0.3490654496846719 1.404737718226305e-07"/>
-    <axis xyz="-0.9999998262417322 1.7128582631247002e-07 2.9287109011566503e-07"/>
-    <parent link="r_shoulder_1"/>
-    <child link="r_shoulder_2"/>
-    <limit effort="50000" lower="0.20943951023931956" upper="2.8448866807507573" velocity="120.0"/>
+  <joint name="r_knee" type="revolute">
+    <origin xyz="0.010600009380288952 0.007899987413773887 -0.17970000000000008" rpy="3.141592653589793 0 -1.187379294776138e-06"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="r_upper_leg"/>
+    <child link="r_lower_leg"/>
+    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_3">
+  <link name="r_ankle_1">
     <inertial>
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-      <inertia ixx="0.01" ixy="1.72745e-06" ixz="1.11496e-05" iyy="0.01" iyz="5.68308e-06" izz="0.01"/>
+      <origin xyz="-0.0013671999999999955 -0.0006601999999999997 -0.01408699999999996" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.348128"/>
+      <inertia ixx="0.01" ixy="-8.99183e-06" ixz="5.52411e-05" iyy="0.01" iyz="1.03371e-05" izz="0.01"/>
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+      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
       <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_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_shoulder_3_color">
+      <material name="r_ankle_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
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-      <origin xyz="0.02075132285211596 0.1996660773505882 -0.11374685915473098" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
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-        <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_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.0068499105431904395 3.267931539541191e-07 -0.05429971877536288" rpy="0 0 0"/>
-    <parent link="r_shoulder_2"/>
-    <child link="r_shoulder_3"/>
-    <dynamics damping="0.1"/>
+  <joint name="r_ankle_pitch" type="revolute">
+    <origin xyz="0 0.0319 0.32099999999999995" rpy="3.141592653589793 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_ankle_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_upperarm">
+  <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0001470636560164315 -0.002335316124503578 -0.05011665894829496" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
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+      <origin xyz="0.04052647 -8.640000000000037e-05 -0.023870999999999976" rpy="0 0 1.5707963267948966"/>
+      <mass value="1.54182"/>
+      <inertia ixx="0.01" ixy="-2.30708e-05" ixz="-3.07725e-05" iyy="0.01" iyz="-0.00132237" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.031650000000000005 0.07440000000000001 0.8856000000000002" rpy="0 0 1.5707963267948966"/>
       <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_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="r_ankle_2_color">
+        <color rgba="0.3 0.3 0.3 1"/>
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-      <origin xyz="0.020751359543703298 0.19966616827789088 -0.09124663357473956" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="0.031650000000000005 0.07440000000000001 0.8856000000000002" rpy="0 0 1.5707963267948966"/>
       <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_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
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-  <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 0 -0.022500225579988875" rpy="0 0 0"/>
-    <axis xyz="1.7133815359560156e-07 -2.3659291614741562e-07 0.999999570574365"/>
-    <parent link="r_shoulder_3"/>
-    <child link="r_upperarm"/>
-    <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="r_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 0.018199999999999994 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="r_ankle_1"/>
+    <child link="r_ankle_2"/>
+    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_forearm">
+  <link name="r_foot_rear">
     <inertial>
-      <origin xyz="-0.018307104773072014 -0.0022154020139300568 -0.0881495480457185" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
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-      <inertia ixx="0.01" ixy="-3.23976e-05" ixz="-0.000565139" iyy="0.01" iyz="-0.00022575" izz="0.01"/>
+      <origin xyz="0.0005878999999999988 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.221105"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="-4.27001e-09" iyy="0.01" iyz="3.29086e-09" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.015599999999999463 0.07440000000000031 0.9558" rpy="0 0 1.5707963267948966"/>
       <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_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_forearm_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="r_foot_rear_color">
+        <color rgba="1 0.51 0.0 1"/>
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-      <origin xyz="0.010751314930868037 0.1981660958284493 0.03245299731653594" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
+        <box size="0.117 0.1 0.006"/>
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-  <joint name="r_elbow" type="revolute">
-    <origin xyz="0.010000044612835839 0.001500072449440032 -0.1236996308912752" rpy="0 0 0"/>
-    <axis xyz="3.352246002574083e-07 -0.9999999783534191 2.2068612626213735e-07"/>
-    <parent link="r_upperarm"/>
-    <child link="r_forearm"/>
-    <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="r_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016000000000000004 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_rear"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_wrist_1">
+  <link name="r_sole"/>
+  <joint name="r_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
+    <parent link="r_foot_rear"/>
+    <child link="r_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_foot_front">
     <inertial>
-      <origin xyz="0.0004027631276975266 -0.0010588265415277243 0.019141104288361327" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
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-      <inertia ixx="0.01" ixy="1.02184e-06" ixz="-1.6885e-06" iyy="0.01" iyz="-1.56714e-07" izz="0.01"/>
+      <origin xyz="0.0005879999999999913 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.221105"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="-4.27001e-09" iyy="0.01" iyz="3.99664e-09" izz="0.01"/>
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     <visual>
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+      <origin xyz="-0.10360000000000001 0.07440000000000001 0.9558000000000001" rpy="0 0 1.5707963267948966"/>
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-        <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_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_wrist_1_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="r_foot_front_color">
+        <color rgba="1 0.51 0.0 1"/>
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     <collision>
-      <origin xyz="0.025751515213232625 0.20016678947605648 0.22680306204167913" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <box size="0.117 0.1 0.006"/>
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     </collision>
   </link>
-  <joint name="r_wrist_yaw" type="revolute">
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-    <axis xyz="1.7133815359560156e-07 -2.3659291614741562e-07 0.999999570574365"/>
-    <parent link="r_forearm"/>
-    <child link="r_wrist_1"/>
-    <limit effort="50000" lower="-1.6057029118347832" upper="1.6057029118347832" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="r_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13525 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_front"/>
+    <dynamics damping="0.1"/>
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-  <link name="r_wrist_2">
+  <link name="l_hip_1">
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+      <origin xyz="-0.004015400000000002 0.02824729999999999 -0.0006810000000000149" rpy="0 0 1.5707963267948966"/>
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-        <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_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="l_hip_1_color">
+        <color rgba="0.9 0.9 0.9 1"/>
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+      <origin xyz="-0.021099999999999997 -0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
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-        <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_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="r_wrist_roll" type="revolute">
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-    <parent link="r_wrist_1"/>
-    <child link="r_wrist_2"/>
-    <limit effort="50000" lower="-1.0821041362364843" upper="0.9075712110370514" velocity="120.0"/>
+  <joint name="l_hip_pitch" type="revolute">
+    <origin xyz="0.0211 0.0505 0" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <parent link="root_link"/>
+    <child link="l_hip_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_palm">
+  <link name="l_hip_2">
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-        <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_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="l_hip_2_color">
+        <color rgba="0.9 0.9 0.9 1"/>
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     <collision>
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+      <origin xyz="0.026149999999999982 -0.08359999999999998 0.18750000000000003" rpy="0 0 1.5707963267948966"/>
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-        <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_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="r_wrist_pitch" type="revolute">
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-    <parent link="r_wrist_2"/>
-    <child link="r_hand_palm"/>
-    <limit effort="50000" lower="-0.5585053606381855" upper="0.5585053606381855" velocity="120.0"/>
+  <joint name="l_hip_roll" type="revolute">
+    <origin xyz="-0.04725 0.03309999999999999 -0.009000000000000008" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_hip_1"/>
+    <child link="l_hip_2"/>
+    <limit effort="50000" lower="-0.17453292519943295" upper="1.9547687622336491" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_thumb_1">
+  <link name="l_hip_3">
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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_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="blue">
-        <color rgba="0 0 1 1"/>
+      <material name="l_hip_3_color">
+        <color rgba="0.3 0.3 0.3 1"/>
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     <collision>
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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_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_thumb_add" type="revolute">
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-    <parent link="r_hand_palm"/>
-    <child link="r_hand_thumb_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="l_leg_ft_sensor" type="fixed">
+    <origin xyz="0.036699999999999997 0 -0.0897" rpy="0 0 0"/>
+    <parent link="l_hip_2"/>
+    <child link="l_hip_3"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_thumb_2">
+  <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.009791876945086153 0.0043394430677464735 0.00026267613914743304" rpy="-1.3050072033505575 0.9949590577630557 0.6894456200851217"/>
-      <mass value="0.00246082"/>
-      <inertia ixx="0.01" ixy="1.42363e-08" ixz="1.51571e-08" iyy="0.01" iyz="-2.56683e-08" izz="0.01"/>
+      <origin xyz="0.0085035 0.014484900000000009 -0.126747" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.78492"/>
+      <inertia ixx="0.0121099" ixy="4.90739e-05" ixz="0.000392143" iyy="0.0118524" iyz="-0.000539399" izz="0.00225363"/>
     </inertial>
     <visual>
-      <origin xyz="-0.09219422223628063 0.23947631886662918 -0.219814684337369" rpy="-1.3050072033505575 0.9949590577630557 0.6894456200851217"/>
+      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
       <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_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="yellow">
-        <color rgba="1 1 0 1"/>
+      <material name="l_upper_leg_color">
+        <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.09219422223628063 0.23947631886662918 -0.219814684337369" rpy="-1.3050072033505575 0.9949590577630557 0.6894456200851217"/>
+      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
       <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_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_thumb_prox" type="revolute">
-    <origin xyz="0.0345419043814173 -0.0031447987794122334 -0.026071809138455138" rpy="1.7929080217310676 0.6514101167838809 -1.1138050653581883e-07"/>
-    <axis xyz="-2.036798052024169e-07 -1.5008516943137984e-07 1.000000226690442"/>
-    <parent link="r_hand_thumb_1"/>
-    <child link="r_hand_thumb_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_hip_yaw" type="revolute">
+    <origin xyz="0 -0.015 -0.07269999999999999" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <parent link="l_hip_3"/>
+    <child link="l_upper_leg"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_thumb_3">
+  <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.006464178605992202 0.001884904152624961 1.5404066026875052e-05" rpy="-1.3050072033505575 0.9949590577630557 0.6894456200851217"/>
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-      <inertia ixx="0.01" ixy="6.72467e-07" ixz="3.3847e-07" iyy="0.01" iyz="-6.23617e-07" izz="0.01"/>
+      <origin xyz="0.0013845000000000038 -0.006187100000000001 0.21426" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <mass value="3.74161"/>
+      <inertia ixx="0.0472513" ixy="1.91266e-05" ixz="0.00182251" iyy="0.0460128" iyz="0.000805127" izz="0.0047826"/>
     </inertial>
     <visual>
-      <origin xyz="-0.11219374098962248 0.2409758366164092 -0.2198142934019002" rpy="-1.3050072033505575 0.9949590577630557 0.6894456200851217"/>
+      <origin xyz="-0.021150000000000016 0.06070000000000036 -0.5296000000000004" rpy="3.141592653589793 0 -1.5707963267948966"/>
       <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_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="pink">
-        <color rgba="1 0 1 1"/>
+      <material name="l_lower_leg_color">
+        <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.11219374098962248 0.2409758366164092 -0.2198142934019002" rpy="-1.3050072033505575 0.9949590577630557 0.6894456200851217"/>
+      <origin xyz="-0.021150000000000016 0.06070000000000036 -0.5296000000000004" rpy="3.141592653589793 0 -1.5707963267948966"/>
       <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_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_thumb_dist" type="revolute">
-    <origin xyz="0.019999518753341647 -0.0014995177497797718 -3.9093546871926677e-07" rpy="0 0 0"/>
-    <axis xyz="-2.036798052024169e-07 -1.5008516943137984e-07 1.000000226690442"/>
-    <parent link="r_hand_thumb_2"/>
-    <child link="r_hand_thumb_3"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_knee" type="revolute">
+    <origin xyz="0.010599999999999998 -0.00789999999999999 -0.17970000000000008" rpy="3.141592653589793 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="l_upper_leg"/>
+    <child link="l_lower_leg"/>
+    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_thumb_skin_0"/>
-  <joint name="r_hand_thumb_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.020306533907145152 -0.0024343057730962236 1.0397284419816355e-06" rpy="1.5707964766707783 0 -0.3483080823075038"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_0"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_1"/>
-  <joint name="r_hand_thumb_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.022181514608171193 -0.0031315753693715864 0.0033003779167594116" rpy="1.5707959518025376 -2.240241662176975e-07 -0.35068660322761297"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_2"/>
-  <joint name="r_hand_thumb_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.02409276610511432 -0.003758664710135945 0" rpy="1.5707964275257265 -1.835551116380351e-07 -0.2650566454956479"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_3"/>
-  <joint name="r_hand_thumb_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.026667717702938992 -0.004082289625380764 0.0032999352919206304" rpy="1.5707959455998035 0 0.06601999324156192"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_4"/>
-  <joint name="r_hand_thumb_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.026900637758132173 -0.001192766703610404 0.00592978690987403" rpy="0.3770235759970468 0.2531253892798945 0.09883876086864818"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_5"/>
-  <joint name="r_hand_thumb_skin_5_fixed_joint" type="fixed">
-    <origin xyz="0.02873547899028911 -0.0034768652666126165 3.4128593354165737e-07" rpy="1.5707964228187474 -1.5765261132672026e-07 0.48457061294039566"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_6"/>
-  <joint name="r_hand_thumb_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.030671760207807985 -0.0018250312131609936 0.0033002175421802393" rpy="0.7821848393014904 0.6234818225335702 0.5256775270061106"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_6"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_7"/>
-  <joint name="r_hand_thumb_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.03217216338109172 -0.000273117886959634 0" rpy="1.5704937922637117 0.00042413338882563444 0.952377708566445"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_7"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_8"/>
-  <joint name="r_hand_thumb_skin_8_fixed_joint" type="fixed">
-    <origin xyz="0.030672481980214994 -0.001824659606315615 -0.0032996703614854295" rpy="2.359407636424222 -0.6234822954061497 0.5256775552228076"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_8"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_9"/>
-  <joint name="r_hand_thumb_skin_9_fixed_joint" type="fixed">
-    <origin xyz="0.026900216455781056 -0.0011927826587153079 -0.005928741363999124" rpy="2.764568142309075 -0.25312574742097016 0.09883922008926718"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_9"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_10"/>
-  <joint name="r_hand_thumb_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.02666722778049077 -0.004082576521223236 -0.003299639291161671" rpy="1.5707959455998035 0 0.06601999324156192"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_10"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_thumb_skin_11"/>
-  <joint name="r_hand_thumb_skin_11_fixed_joint" type="fixed">
-    <origin xyz="0.02218144484998505 -0.003131515879897573 -0.0033000354029952272" rpy="1.5707959518025376 -2.240241662176975e-07 -0.35068660322761297"/>
-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_11"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_1">
+  <link name="l_ankle_1">
     <inertial>
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+      <origin xyz="-0.0013851999999999962 0.0006601999999999997 -0.01408699999999996" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.348128"/>
+      <inertia ixx="0.01" ixy="8.88196e-06" ixz="-5.52411e-05" iyy="0.01" iyz="7.86883e-06" izz="0.01"/>
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+      <origin xyz="-0.021150000000000165 -0.09260000000000018 0.8506000000000005" rpy="0 0 1.5707963267948966"/>
       <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_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="cyan">
-        <color rgba="0 1 1 1"/>
+      <material name="l_ankle_1_color">
+        <color rgba="0.9 0.9 0.9 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.029013910407855184 -0.1986661648104223 0.293982522539359" rpy="0.20567444929844825 -0.20467244819585653 -1.8717733650332327"/>
+      <origin xyz="-0.021150000000000165 -0.09260000000000018 0.8506000000000005" rpy="0 0 1.5707963267948966"/>
       <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_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_index_add" type="revolute">
-    <origin xyz="0.022470132804126554 0.0015006329961735065 -0.06858950116064205" rpy="0 0.08726600527288864 3.141592607344335"/>
-    <axis xyz="-3.992524267790176e-07 0.999999978353397 2.1441989261905547e-07"/>
-    <parent link="r_hand_palm"/>
-    <child link="r_hand_index_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_ankle_pitch" type="revolute">
+    <origin xyz="0 -0.0319 0.32099999999999995" rpy="3.141592653589793 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="l_lower_leg"/>
+    <child link="l_ankle_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_index_2">
+  <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.00014273208930988546 0.0036431776269647553 -0.014331302030487825" rpy="0.20567444929844825 -0.20467244819585653 -1.8717733650332327"/>
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+      <origin xyz="0.0405224 -9.790000000001187e-05 -0.023870999999999976" rpy="0 0 1.5707963267948966"/>
+      <mass value="1.54182"/>
+      <inertia ixx="0.01" ixy="-1.99736e-05" ixz="-1.50522e-05" iyy="0.01" iyz="-0.00132513" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.031599999999999906 -0.07440000000000055 0.8856000000000006" rpy="0 0 1.5707963267948966"/>
       <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_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="l_ankle_2_color">
+        <color rgba="0.3 0.3 0.3 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.019821360664818048 -0.19866600173088267 0.3246961457413715" rpy="0.20567444929844825 -0.20467244819585653 -1.8717733650332327"/>
+      <origin xyz="0.031599999999999906 -0.07440000000000055 0.8856000000000006" rpy="0 0 1.5707963267948966"/>
       <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_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_index_prox" type="revolute">
-    <origin xyz="-0.009192549743036973 -1.630795395390905e-07 -0.03071362320201243" rpy="0 0 0"/>
-    <axis xyz="-0.9999995872902697 -2.6872936789712476e-07 4.668360350512657e-07"/>
-    <parent link="r_hand_index_1"/>
-    <child link="r_hand_index_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 -0.018199999999999994 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_ankle_1"/>
+    <child link="l_ankle_2"/>
+    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_index_3">
+  <link name="l_foot_front">
     <inertial>
-      <origin xyz="4.5278546464917746e-05 0.0015998591566379616 -0.0035907529199530885" rpy="0.20567444929844825 -0.20467244819585653 -1.8717733650332327"/>
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-      <inertia ixx="0.01" ixy="-1.86597e-07" ixz="-7.96957e-07" iyy="0.01" iyz="-6.51325e-07" izz="0.01"/>
+      <origin xyz="0.0005879999999999913 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.221105"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="-5.72999e-09" iyy="0.01" iyz="5.16985e-09" izz="0.01"/>
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     <visual>
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+      <origin xyz="-0.10365000000000019 -0.07440000000000048 0.955800000000001" rpy="0 0 1.5707963267948966"/>
       <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_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="white">
-        <color rgba="1 1 1 1"/>
+      <material name="l_foot_front_color">
+        <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.01982140194297418 -0.19716617877473372 0.3546966306597608" rpy="0.20567444929844825 -0.20467244819585653 -1.8717733650332327"/>
+      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <box size="0.117 0.1 0.006"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_index_dist" type="revolute">
-    <origin xyz="0 -0.0014998229561488108 -0.030000484918389303" rpy="0 0 0"/>
-    <axis xyz="-0.9999995872902697 -2.6872936789712476e-07 4.668360350512657e-07"/>
-    <parent link="r_hand_index_2"/>
-    <child link="r_hand_index_3"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
-  </joint>
-  <link name="r_hand_index_skin_0"/>
-  <joint name="r_hand_index_skin_0_fixed_joint" type="fixed">
-    <origin xyz="6.08329334565727e-07 -0.002433714278642418 -0.02140564618132018" rpy="-1.358973927973795e-06 1.2224885677301185 -1.5707970308820571"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_0"/>
+  <joint name="l_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13525 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_front"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_index_skin_1"/>
-  <joint name="r_hand_index_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.0033010071874996078 -0.0031310503039992388 -0.023280686406158713" rpy="-1.004508784930116e-06 1.2201097511639787 -1.5707973956436345"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_2"/>
-  <joint name="r_hand_index_skin_2_fixed_joint" type="fixed">
-    <origin xyz="9.879565030304627e-07 -0.0037585228231166723 -0.025192849922389793" rpy="-2.0192589424348972e-07 1.3057399175861366 -1.5707961736993847"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_3"/>
-  <joint name="r_hand_index_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.0033009199416053694 -0.004081475640701937 -0.027766769962195237" rpy="-3.141590806265971 1.5047757593824544 1.570798933120569"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_4"/>
-  <joint name="r_hand_index_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.005930100741661566 -0.001192495473541999 -0.027999567974155037" rpy="3.1415912221673423 1.2994438865660232 2.777154326754342"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_5"/>
-  <joint name="r_hand_index_skin_5_fixed_joint" type="fixed">
-    <origin xyz="8.852545381743404e-07 -0.003476743370653318 -0.02983516522077506" rpy="-3.1415916993735475 1.0862258770767357 1.5707970353407095"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_6"/>
-  <joint name="r_hand_index_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.003300138880263759 -0.0018247773994582994 -0.03177155540437698" rpy="-3.1415926400948937 0.7785356574796939 2.532385471012728"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_6"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_7"/>
-  <joint name="r_hand_index_skin_7_fixed_joint" type="fixed">
-    <origin xyz="9.888131538779432e-07 -0.00027231359238352737 -0.03327170938394436" rpy="-3.1415924489774776 0.6184188472429561 1.5713175931002388"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_7"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_8"/>
-  <joint name="r_hand_index_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0032989996784251463 -0.0018242465421607346 -0.03177159303017657" rpy="-3.1415920569068843 0.7785360318433138 0.6092077273521872"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_8"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_9"/>
-  <joint name="r_hand_index_skin_9_fixed_joint" type="fixed">
-    <origin xyz="-0.005928626915841569 -0.0011924268560411788 -0.028000151465407297" rpy="3.1415920007985783 1.2994444690524727 0.3644366437810966"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_9"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_10"/>
-  <joint name="r_hand_index_skin_10_fixed_joint" type="fixed">
-    <origin xyz="-0.003299456106408784 -0.004081629333914039 -0.027766804306264936" rpy="-3.141590806265971 1.5047757593824544 1.570798933120569"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_10"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_11"/>
-  <joint name="r_hand_index_skin_11_fixed_joint" type="fixed">
-    <origin xyz="-0.0032993688605145108 -0.0031312039972113404 -0.023280720750228412" rpy="-1.004508784930116e-06 1.2201097511639787 -1.5707973956436345"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_11"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_1">
+  <link name="l_foot_rear">
     <inertial>
-      <origin xyz="0.00014288935851117235 0.003643274774255273 -0.014331647143315362" rpy="0.12008501986317731 -0.2297882840735942 -1.8533146530335884"/>
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-      <inertia ixx="0.01" ixy="-5.70924e-09" ixz="-5.08723e-08" iyy="0.01" iyz="-3.26866e-08" izz="0.01"/>
+      <origin xyz="0.0005878999999999988 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.221105"/>
+      <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="-0.016151209552035674 -0.19866593918881142 0.32980294282379513" rpy="0.12008501986317731 -0.2297882840735942 -1.8533146530335884"/>
+      <origin xyz="0.015599999999999909 -0.07440000000000056 0.9558000000000011" rpy="0 0 1.5707963267948966"/>
       <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_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="dblue">
-        <color rgba="0 0 0.8 1"/>
+      <material name="l_foot_rear_color">
+        <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.016151209552035674 -0.19866593918881142 0.32980294282379513" rpy="0.12008501986317731 -0.2297882840735942 -1.8533146530335884"/>
+      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <box size="0.117 0.1 0.006"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_middle_prox" type="revolute">
-    <origin xyz="0.009600156192095595 0.0015008642793521432 -0.10299988189076881" rpy="0 -5.650294234014884e-07 -3.141592467955196"/>
-    <axis xyz="-0.9999998262416893 3.56920377206707e-07 2.721582535170075e-07"/>
-    <parent link="r_hand_palm"/>
-    <child link="r_hand_middle_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="l_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016000000000000004 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_rear"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_middle_2">
+  <link name="l_sole"/>
+  <joint name="l_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
+    <parent link="l_foot_rear"/>
+    <child link="l_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="torso_1">
     <inertial>
-      <origin xyz="5.143109505644991e-05 0.0015994843505621748 -0.0035910973065023666" rpy="0.11954926259843997 -0.22799029281164018 -1.8531928341958708"/>
-      <mass value="0.00912524"/>
-      <inertia ixx="0.01" ixy="-1.25412e-07" ixz="-8.73252e-07" iyy="0.01" iyz="-4.04969e-07" izz="0.01"/>
+      <origin xyz="-0.00963997 0.0006168500000000001 0.08244230000000001" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.01685"/>
+      <inertia ixx="0.00709474" ixy="6.97521e-06" ixz="-1.25869e-05" iyy="0.00581692" iyz="0.000722773" izz="0.00295365"/>
     </inertial>
     <visual>
-      <origin xyz="-0.016151302128169516 -0.19783968727776596 0.35943338575842404" rpy="0.11954926259843997 -0.22799029281164018 -1.8531928341958708"/>
+      <origin xyz="0 0 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
       <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_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="dgreen">
-        <color rgba="0.1 0.8 0.1 1"/>
+      <material name="torso_1_color">
+        <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.016151302128169516 -0.19783968727776596 0.35943338575842404" rpy="0.11954926259843997 -0.22799029281164018 -1.8531928341958708"/>
+      <origin xyz="0 0 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
       <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_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_middle_dist" type="revolute">
-    <origin xyz="1.3550151000546462e-07 -0.0014995238274964628 -0.03000020325318492" rpy="-0.0018721728628663644 0 -2.576685250299645e-07"/>
-    <axis xyz="-0.9999998262417538 9.878318872787173e-08 2.5044776373606137e-07"/>
-    <parent link="r_hand_middle_1"/>
-    <child link="r_hand_middle_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="torso_roll" type="revolute">
+    <origin xyz="0 0 0.060499999999999984" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="root_link"/>
+    <child link="torso_1"/>
+    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_middle_skin_0"/>
-  <joint name="r_hand_middle_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0 -0.002434163388032401 -0.02140626784029226" rpy="-2.888002141897799e-07 1.2224888157071614 -1.5707967443194422"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_0"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_1"/>
-  <joint name="r_hand_middle_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.0032999302761449988 -0.003131534419503562 -0.023280711530192733" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_2"/>
-  <joint name="r_hand_middle_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0037584600637466103 -0.02519316791187759" rpy="-2.6780538415934596e-06 1.305739726207208 -1.5707987725046209"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_3"/>
-  <joint name="r_hand_middle_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.0032999688028366864 -0.004081937549531761 -0.027767599906222185" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_4"/>
-  <joint name="r_hand_middle_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.005929566529031996 -0.0011920519924579764 -0.028000347463470243" rpy="3.141592260042173 1.2994442393401489 2.777155482919476"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_5"/>
-  <joint name="r_hand_middle_skin_5_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0034765832806818997 -0.02983570347842418" rpy="-3.1415923106025314 1.086225709334958 1.570796364632236"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_6"/>
-  <joint name="r_hand_middle_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.0032999946700499015 -0.0018244087955724964 -0.0317716170907979" rpy="3.141592114011197 0.778535719104729 2.532385576753663"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_6"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_7"/>
-  <joint name="r_hand_middle_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0002725978091494552 -0.033271502713935364" rpy="-3.1415924148088807 0.618418747537505 1.5713170250376087"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_7"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_8"/>
-  <joint name="r_hand_middle_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0033001032954547323 -0.0018248945553451246 -0.0317717577277557" rpy="3.1415924841511433 0.7785357399039171 0.6092069609627565"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_8"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_9"/>
-  <joint name="r_hand_middle_skin_9_fixed_joint" type="fixed">
-    <origin xyz="-0.0059297326329880405 -0.001192832553830514 -0.027999915681298115" rpy="-3.1415923364133644 1.2994449456881931 0.36443740406990854"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_9"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_10"/>
-  <joint name="r_hand_middle_skin_10_fixed_joint" type="fixed">
-    <origin xyz="-0.003300181170510206 -0.004082174556855278 -0.027766773373389564" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_10"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_11"/>
-  <joint name="r_hand_middle_skin_11_fixed_joint" type="fixed">
-    <origin xyz="-0.003299992346993817 -0.0031310595632359495 -0.023281089805274435" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_11"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_pinkie_1">
+  <link name="torso_2">
     <inertial>
-      <origin xyz="0.00012066652469319705 0.0037052461258312297 -0.011966578146940299" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
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-      <inertia ixx="0.01" ixy="-3.01698e-10" ixz="-3.25911e-08" iyy="0.01" iyz="-5.31232e-09" izz="0.01"/>
+      <origin xyz="0.0015724700000000012 0.003622350000000127 0.026019499999999952" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.705163"/>
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     <visual>
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+      <origin xyz="0 0 0" rpy="0 0 1.5707963267948966"/>
       <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_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="gray">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="torso_2_color">
+        <color rgba="0.9 0.9 0.9 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.028527203126593167 -0.19932629907859578 0.32260234794349524" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="0 0 0" rpy="0 0 1.5707963267948966"/>
       <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_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_pinkie_prox" type="revolute">
-    <origin xyz="-0.03598229511630489 0.0023886829394013653 -0.09208533059471607" rpy="0 -0.08726707208822813 3.1154130190543565"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_palm"/>
-    <child link="r_hand_pinkie_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="torso_pitch" type="revolute">
+    <origin xyz="0 0 0.11800000000000005" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="torso_1"/>
+    <child link="torso_2"/>
+    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_pinkie_2">
+  <link name="chest">
     <inertial>
-      <origin xyz="1.7197070087928562e-05 0.0017846869131176724 -0.005611909589696484" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
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-      <inertia ixx="0.01" ixy="-3.59629e-08" ixz="-7.27668e-07" iyy="0.01" iyz="-1.08559e-07" izz="0.01"/>
+      <origin xyz="-0.010721000000063492 -0.00034820599804510997 0.07611099999999998" rpy="0 0 1.5707963267948966"/>
+      <mass value="8.06547"/>
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     <visual>
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+      <origin xyz="0 0 -0.06446999999999996" rpy="0 0 1.5707963267948966"/>
       <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_chest_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="chest_color">
+        <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.028527291616398644 -0.19782654821837128 0.34760258035440544" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="0 0 -0.06446999999999996" rpy="0 0 1.5707963267948966"/>
       <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_chest_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_pinkie_dist" type="revolute">
-    <origin xyz="0 -0.0014997508602253018 -0.025000232410908096" rpy="0 0 0"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_pinkie_1"/>
-    <child link="r_hand_pinkie_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="torso_yaw" type="revolute">
+    <origin xyz="0 0 0.06446999999999996" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="torso_2"/>
+    <child link="chest"/>
+    <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_1">
+  <link name="neck_2">
     <inertial>
-      <origin xyz="0.0001425535059396731 0.0036420567912524016 -0.014331791473058686" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
-      <mass value="0.00345703"/>
-      <inertia ixx="0.01" ixy="-1.91202e-09" ixz="-5.67574e-08" iyy="0.01" iyz="-1.09909e-08" izz="0.01"/>
+      <origin xyz="-0.006305769999994505 3.01413002619598e-05 0.0063730000000000175" rpy="0 0 1.570796326794898"/>
+      <mass value="0.121003"/>
+      <inertia ixx="3.84895e-05" ixy="9.37575e-08" ixz="4.86994e-08" iyy="4.53912e-05" iyz="-8.62267e-06" izz="3.75355e-05"/>
     </inertial>
     <visual>
-      <origin xyz="-0.007527237008806751 -0.1993263860452736 0.326602384893858" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.004861510000001958 -5.0000000001387415e-05 -0.2897700000000001" rpy="0 0 1.570796326794898"/>
       <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_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="neck_2_color">
+        <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.007527237008806751 -0.1993263860452736 0.326602384893858" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.004861510000001958 -5.0000000001387415e-05 -0.2897700000000001" rpy="0 0 1.570796326794898"/>
       <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_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ring_prox" type="revolute">
-    <origin xyz="-0.01541792137789915 0.0018501048853160618 -0.09790042637955282" rpy="0 -0.08726707208822813 3.1154130190543565"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_palm"/>
-    <child link="r_hand_ring_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="neck_pitch" type="revolute">
+    <origin xyz="0.00486151 0 0.22529999999999997" rpy="0 0 0"/>
+    <axis xyz="4.1292621846134423e-16 -1.0 0.0"/>
+    <parent link="chest"/>
+    <child link="neck_2"/>
+    <limit effort="50000" lower="-0.5235987755982988" upper="0.3839724354387525" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_2">
+  <link name="neck_3">
     <inertial>
-      <origin xyz="5.12901968831303e-05 0.001669633724482783 -0.003593808335425386" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
-      <mass value="0.0091955"/>
-      <inertia ixx="0.01" ixy="-5.0923e-08" ixz="-9.41261e-07" iyy="0.01" iyz="-1.45057e-07" izz="0.01"/>
+      <origin xyz="0.0007590499999925388 -4.09169010262998e-05 0.03603500000000004" rpy="0 0 1.5707963267948974"/>
+      <mass value="0.178114"/>
+      <inertia ixx="0.000107598" ixy="-1.76295e-07" ixz="-2.50398e-07" iyy="9.70547e-05" iyz="-6.13074e-06" izz="3.62642e-05"/>
     </inertial>
     <visual>
-      <origin xyz="-0.007527194888446732 -0.19782646544374516 0.3566029490051788" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.0048615100000017055 0 -0.2992700000000001" rpy="0 0 1.5707963267948974"/>
       <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_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="neck_3_color">
+        <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.007527194888446732 -0.19782646544374516 0.3566029490051788" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.0048615100000017055 0 -0.2992700000000001" rpy="0 0 1.5707963267948974"/>
       <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_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ring_dist" type="revolute">
-    <origin xyz="0 -0.0014999206015293143 -0.03000056411131863" rpy="0 0 0"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_ring_1"/>
-    <child link="r_hand_ring_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="neck_roll" type="revolute">
+    <origin xyz="0 0 0.009500000000000008" rpy="0 0 0"/>
+    <axis xyz="1.0 -1.141386016013875e-15 0.0"/>
+    <parent link="neck_2"/>
+    <child link="neck_3"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_skin_0"/>
-  <joint name="r_hand_ring_skin_0_fixed_joint" type="fixed">
-    <origin xyz="6.369438959753088e-07 -0.0024437159778973594 -0.02140551448514305" rpy="-1.8198440874177978e-06 1.222171074662119 -1.570798078779304"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_0"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_1"/>
-  <joint name="r_hand_ring_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.003300577895109416 -0.00314198277569927 -0.023279866908672897" rpy="-8.828925104148836e-07 1.2197920927650072 -1.5707973488537736"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_2"/>
-  <joint name="r_hand_ring_skin_2_fixed_joint" type="fixed">
-    <origin xyz="6.542383091199394e-07 -0.0037691217541475086 -0.02519099159351179" rpy="-2.1979342417368875e-06 1.3054216764415913 -1.5707985350956188"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_3"/>
-  <joint name="r_hand_ring_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.003300545141335001 -0.004093663560879535 -0.027765768308842698" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_4"/>
-  <joint name="r_hand_ring_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0059301207467280705 -0.001204276676426641 -0.027999177771960315" rpy="-3.1404875010050004 1.2995572108592925 2.778219856114847"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_5"/>
-  <joint name="r_hand_ring_skin_5_fixed_joint" type="fixed">
-    <origin xyz="5.308718775496463e-07 -0.0034891781806687394 -0.029833705591858994" rpy="-3.141591609794059 1.0865431510862156 1.5707972515436073"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_6"/>
-  <joint name="r_hand_ring_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.00330056984961531 -0.0018374330365136249 -0.031770474544050076" rpy="-3.1412265136676125 0.7787173410213876 2.5326427664034585"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_6"/>
-    <dynamics damping="0.1"/>
+  <link name="head">
+    <inertial>
+      <origin xyz="-0.02038851 0.004002100000000001 0.034331999999999974" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.31933"/>
+      <inertia ixx="0.0122181" ixy="-0.000306508" ixz="0.000152454" iyy="0.0105129" iyz="0.000206793" izz="0.0102492"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.00486150999999975 0 -0.36842000000000047" rpy="0 0 1.5707963267948966"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="head_color">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.00486150999999975 0 -0.36842000000000047" rpy="0 0 1.5707963267948966"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="neck_yaw" type="revolute">
+    <origin xyz="0 0 0.06915000000000004" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <parent link="neck_3"/>
+    <child link="head"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_skin_7"/>
-  <joint name="r_hand_ring_skin_7_fixed_joint" type="fixed">
-    <origin xyz="6.201472224371535e-07 -0.00028604387995345704 -0.033271223785790505" rpy="-3.1415918554197564 0.6187360445083335 1.5713172257908574"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_7"/>
+  <link name="head_laser_frame"/>
+  <joint name="head_laser_frame_fixed_joint" type="fixed">
+    <origin xyz="4.99999999999997e-05 0 0.13480199999999992" rpy="0 0 1.5707963267948966"/>
+    <parent link="head"/>
+    <child link="head_laser_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_ring_skin_8"/>
-  <joint name="r_hand_ring_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0032993851081752224 -0.0018375074923376866 -0.03177136313433143" rpy="3.1412269734474307 0.7787178284081474 0.608949710350258"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_8"/>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="-0.004299998 -0.0055 0.03823499999999996" rpy="3.141592653589793 0 1.5707963267948966"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_ring_skin_9"/>
-  <joint name="r_hand_ring_skin_9_fixed_joint" type="fixed">
-    <origin xyz="-0.0059288844459949135 -0.0012040132702312856 -0.027998753995689574" rpy="3.140488583833023 1.2995578078276662 0.3633736430221612"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_9"/>
-    <dynamics damping="0.1"/>
+  <link name="realsense">
+    <inertial>
+      <origin xyz="-0.015665513063136835 0.004519999999999997 0.0027449336073371855" rpy="-0.00025958199854238625 0 1.5707963267948972"/>
+      <mass value="0.0973042"/>
+      <inertia ixx="0.01" ixy="-4.78755e-05" ixz="-7.18355e-06" iyy="0.01" iyz="-2.55241e-05" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.06725603228393816 3.0000000000165657e-05 -0.4448304734420435" rpy="-0.00025958199854238625 0 1.5707963267948972"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.06725603228393816 3.0000000000165657e-05 -0.4448304734420435" rpy="-0.00025958199854238625 0 1.5707963267948972"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_tilt" type="revolute">
+    <origin xyz="0.06250999 -3e-05 0.07639299999999999" rpy="0 0.0002595819985423862 0"/>
+    <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <parent link="head"/>
+    <child link="realsense"/>
+    <limit effort="50000" lower="-0.5235987755982988" upper="0.5235987755982988" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_skin_10"/>
-  <joint name="r_hand_ring_skin_10_fixed_joint" type="fixed">
-    <origin xyz="-0.0032993838888264685 -0.0040934889011343956 -0.027765688772483865" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_10"/>
+  <link name="realsense_rgb_frame"/>
+  <joint name="realsense_rgb_frame_fixed_joint" type="fixed">
+    <origin xyz="0.00751550026595621 -0.0115 0" rpy="-1.5707962931078618 0 -1.5707963267948968"/>
+    <parent link="realsense"/>
+    <child link="realsense_rgb_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_ring_skin_11"/>
-  <joint name="r_hand_ring_skin_11_fixed_joint" type="fixed">
-    <origin xyz="-0.0032994485112988626 -0.0031417855839680486 -0.02327979056232371" rpy="-8.828925104148836e-07 1.2197920927650072 -1.5707973488537736"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_11"/>
+  <link name="realsense_depth_frame"/>
+  <joint name="realsense_depth_frame_fixed_joint" type="fixed">
+    <origin xyz="0.00751550026595621 0.010000000000000005 0" rpy="-1.5707962931078618 0 -1.5707963267948968"/>
+    <parent link="realsense"/>
+    <child link="realsense_depth_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_shoulder_1">
+  <link name="r_shoulder_1">
     <inertial>
-      <origin xyz="8.813465633825818e-05 0.09554178705277518 0.0004984818421107096" rpy="-0.054063667179708695 0.2748965159766948 1.8097197019610352"/>
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-      <inertia ixx="0.01" ixy="0.000205178" ixz="-0.000194353" iyy="0.01" iyz="4.9725e-05" izz="0.01"/>
+      <origin xyz="0.00017239755152553132 -0.06784047233647011 0.0004755723487094854" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <mass value="0.792282"/>
+      <inertia ixx="0.01" ixy="-0.000205104" ixz="0.000194599" iyy="0.01" iyz="4.97646e-05" izz="0.01"/>
     </inertial>
     <visual>
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+      <origin xyz="0.021414945972355947 0.10641310711982899 -0.16803579004948574" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
       <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_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_shoulder_1_color">
+      <material name="r_shoulder_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.050280138935658414 -0.07875979528419856 -0.1617502817861287" rpy="-0.054063667179708695 0.2748965159766948 1.8097197019610352"/>
+      <origin xyz="0.021414945972355947 0.10641310711982899 -0.16803579004948574" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
       <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_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_shoulder_pitch" type="revolute">
-    <origin xyz="-0.0204593 0.041145 0.11657900000000002" rpy="0.25504097964037203 0.11691445967672928 -0.23139612148175434"/>
-    <axis xyz="4.453300185801312e-07 0.9999999783533606 2.834495320125363e-07"/>
+  <joint name="r_shoulder_pitch" type="revolute">
+    <origin xyz="-0.013518700012225604 -0.06704759999753497 0.12352000000000002" rpy="-0.2536122932682645 -0.05203182377908277 0.27527867980625303"/>
+    <axis xyz="-3.352246002574083e-07 0.9999999783534191 -2.2068612626213735e-07"/>
     <parent link="chest"/>
-    <child link="l_shoulder_1"/>
+    <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-3.0543261909900767" upper="0.3490658503988659" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_shoulder_2">
+  <link name="r_shoulder_2">
     <inertial>
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-    <child link="l_hand_thumb_2"/>
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+    <origin xyz="0.0345419043814173 -0.0031447987794122334 -0.026071809138455138" rpy="1.7929080217310676 0.6514101167838809 -1.1138050653581883e-07"/>
+    <axis xyz="-2.036798052024169e-07 -1.5008516943137984e-07 1.000000226690442"/>
+    <parent link="r_hand_thumb_1"/>
+    <child link="r_hand_thumb_2"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_thumb_3">
+  <link name="r_hand_thumb_3">
     <inertial>
-      <origin xyz="0.006464657686845232 0.001884491656128695 1.5530289565829358e-05" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
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       <mass value="0.00811336"/>
-      <inertia ixx="0.01" ixy="-6.71818e-07" ixz="-3.37336e-07" iyy="0.01" iyz="-6.24005e-07" izz="0.01"/>
+      <inertia ixx="0.01" ixy="6.72467e-07" ixz="3.3847e-07" iyy="0.01" iyz="-6.23617e-07" izz="0.01"/>
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     <visual>
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       <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_r_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="gray">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
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     </visual>
     <collision>
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       <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_r_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
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-    <parent link="l_hand_thumb_2"/>
-    <child link="l_hand_thumb_3"/>
+  <joint name="r_thumb_dist" type="revolute">
+    <origin xyz="0.019999518753341633 -0.0014995177497797996 -3.909354686637556e-07" rpy="0 0 0"/>
+    <axis xyz="-2.036798052024169e-07 -1.5008516943137984e-07 1.000000226690442"/>
+    <parent link="r_hand_thumb_2"/>
+    <child link="r_hand_thumb_3"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hand_thumb_skin_0"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_0"/>
+  <link name="r_hand_thumb_skin_0"/>
+  <joint name="r_hand_thumb_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.020306533907145166 -0.0024343057730962236 1.0397284419816355e-06" rpy="1.5707964766707783 0 -0.3483080823075038"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_thumb_skin_1"/>
-  <joint name="l_hand_thumb_skin_1_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_1"/>
+  <link name="r_hand_thumb_skin_1"/>
+  <joint name="r_hand_thumb_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.022181514608171235 -0.0031315753693715864 0.0033003779167594116" rpy="1.5707959518025376 -2.240241662176975e-07 -0.35068660322761297"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_thumb_skin_2"/>
-  <joint name="l_hand_thumb_skin_2_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_2"/>
+  <link name="r_hand_thumb_skin_2"/>
+  <joint name="r_hand_thumb_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.024092766105114335 -0.003758664710135945 0" rpy="1.5707964275257265 -1.835551116380351e-07 -0.2650566454956479"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_thumb_skin_3"/>
-  <joint name="l_hand_thumb_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.026667224026776015 -0.004082581893144865 0.00329966298150397" rpy="1.5707965227938288 -9.019462447191873e-07 0.06601977594073062"/>
-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_3"/>
+  <link name="r_hand_thumb_skin_3"/>
+  <joint name="r_hand_thumb_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.026667717702939006 -0.004082289625380764 0.0032999352919206304" rpy="1.5707959455998035 0 0.06601999324156192"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_thumb_skin_4"/>
-  <joint name="l_hand_thumb_skin_4_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_4"/>
+  <link name="r_hand_thumb_skin_4"/>
+  <joint name="r_hand_thumb_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.02690063775813216 -0.001192766703610404 0.00592978690987403" rpy="0.3770235759970468 0.2531253892798945 0.09883876086864818"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_4"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_thumb_skin_5"/>
-  <joint name="l_hand_thumb_skin_5_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_5"/>
+  <link name="r_hand_thumb_skin_5"/>
+  <joint name="r_hand_thumb_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0.02873547899028915 -0.0034768652666125888 3.412859334861462e-07" rpy="1.5707964228187474 -1.5765261132672026e-07 0.48457061294039566"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_5"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_6"/>
-  <joint name="l_hand_thumb_skin_6_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_6"/>
+  <link name="r_hand_thumb_skin_6"/>
+  <joint name="r_hand_thumb_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.030671760207808 -0.0018250312131609936 0.0033002175421802393" rpy="0.7821848393014904 0.6234818225335702 0.5256775270061106"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_6"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_7"/>
-  <joint name="l_hand_thumb_skin_7_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_7"/>
+  <link name="r_hand_thumb_skin_7"/>
+  <joint name="r_hand_thumb_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0.03217216338109173 -0.000273117886959634 0" rpy="1.5704937922637117 0.00042413338882563444 0.952377708566445"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_thumb_skin_8"/>
-  <joint name="l_hand_thumb_skin_8_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_8"/>
+  <link name="r_hand_thumb_skin_8"/>
+  <joint name="r_hand_thumb_skin_8_fixed_joint" type="fixed">
+    <origin xyz="0.030672481980215036 -0.0018246596063155873 -0.003299670361485485" rpy="2.359407636424222 -0.6234822954061497 0.5256775552228076"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_8"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_9"/>
-  <joint name="l_hand_thumb_skin_9_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_9"/>
+  <link name="r_hand_thumb_skin_9"/>
+  <joint name="r_hand_thumb_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.026900216455781042 -0.0011927826587152801 -0.005928741363999179" rpy="2.764568142309075 -0.25312574742097016 0.09883922008926718"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_9"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_10"/>
-  <joint name="l_hand_thumb_skin_10_fixed_joint" type="fixed">
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_10"/>
+  <link name="r_hand_thumb_skin_10"/>
+  <joint name="r_hand_thumb_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.026667227780490785 -0.004082576521223208 -0.0032996392911617267" rpy="1.5707959455998035 0 0.06601999324156192"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_10"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_11"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_11"/>
+  <link name="r_hand_thumb_skin_11"/>
+  <joint name="r_hand_thumb_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.022181444849985063 -0.003131515879897573 -0.0033000354029952272" rpy="1.5707959518025376 -2.240241662176975e-07 -0.35068660322761297"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_11"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_pinkie_1">
+  <link name="r_hand_middle_1">
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       <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_r_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="dblue">
+        <color rgba="0 0 0.8 1"/>
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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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-    <parent link="l_hand_palm"/>
-    <child link="l_hand_pinkie_1"/>
+  <joint name="r_middle_prox" type="revolute">
+    <origin xyz="0.009600156192095581 0.0015008642793520877 -0.10299988189076881" rpy="0 -5.650294234014884e-07 -3.141592467955196"/>
+    <axis xyz="-0.9999998262416893 3.56920377206707e-07 2.721582535170075e-07"/>
+    <parent link="r_hand_palm"/>
+    <child link="r_hand_middle_1"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_pinkie_2">
+  <link name="r_hand_middle_2">
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-        <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_r_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="dgreen">
+        <color rgba="0.1 0.8 0.1 1"/>
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       <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_r_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_pinkie_dist" type="revolute">
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-    <axis xyz="-1.0000005135465095 -7.224204564889453e-07 1.88573045758339e-07"/>
-    <parent link="l_hand_pinkie_1"/>
-    <child link="l_hand_pinkie_2"/>
+  <joint name="r_middle_dist" type="revolute">
+    <origin xyz="1.3550151000546462e-07 -0.0014995238274964628 -0.03000020325318492" rpy="-0.0018721728628663644 0 -2.576685250299645e-07"/>
+    <axis xyz="-0.9999998262417538 9.878318872787173e-08 2.5044776373606137e-07"/>
+    <parent link="r_hand_middle_1"/>
+    <child link="r_hand_middle_2"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_ring_1">
+  <link name="r_hand_middle_skin_0"/>
+  <joint name="r_hand_middle_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0024341633880323454 -0.02140626784029226" rpy="-2.888002141897799e-07 1.2224888157071614 -1.5707967443194422"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_1"/>
+  <joint name="r_hand_middle_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.0032999302761450126 -0.0031315344195035066 -0.023280711530192733" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_2"/>
+  <joint name="r_hand_middle_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0037584600637464993 -0.025193167911877645" rpy="-2.6780538415934596e-06 1.305739726207208 -1.5707987725046209"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_3"/>
+  <joint name="r_hand_middle_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0032999688028366864 -0.004081937549531761 -0.027767599906222185" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_4"/>
+  <joint name="r_hand_middle_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929566529031996 -0.0011920519924579764 -0.028000347463470243" rpy="3.141592260042173 1.2994442393401489 2.777155482919476"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_5"/>
+  <joint name="r_hand_middle_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034765832806818997 -0.02983570347842418" rpy="-3.1415923106025314 1.086225709334958 1.570796364632236"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_6"/>
+  <joint name="r_hand_middle_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0032999946700499154 -0.0018244087955724964 -0.0317716170907979" rpy="3.141592114011197 0.778535719104729 2.532385576753663"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_7"/>
+  <joint name="r_hand_middle_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0002725978091493997 -0.033271502713935364" rpy="-3.1415924148088807 0.618418747537505 1.5713170250376087"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_8"/>
+  <joint name="r_hand_middle_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0033001032954547184 -0.0018248945553451246 -0.031771757727755756" rpy="3.1415924841511433 0.7785357399039171 0.6092069609627565"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_9"/>
+  <joint name="r_hand_middle_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929732632988013 -0.001192832553830403 -0.027999915681298115" rpy="-3.1415923364133644 1.2994449456881931 0.36443740406990854"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_10"/>
+  <joint name="r_hand_middle_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.003300181170510192 -0.004082174556855278 -0.027766773373389564" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_11"/>
+  <joint name="r_hand_middle_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999923469937895 -0.0031310595632358384 -0.023281089805274435" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_ring_1">
     <inertial>
-      <origin xyz="0.00014280339169174278 0.0036426704125520626 -0.014331537616628587" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0.0001425535059396731 0.003642056791252346 -0.014331791473058741" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <mass value="0.00345703"/>
-      <inertia ixx="0.01" ixy="-2.00998e-09" ixz="5.85772e-08" iyy="0.01" iyz="-2.27607e-09" izz="0.01"/>
+      <inertia ixx="0.01" ixy="-1.91202e-09" ixz="-5.67574e-08" iyy="0.01" iyz="-1.09909e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.0075498455057530925 -0.19942057587455303 0.326627227033986" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.0075272370088071685 -0.1993263860452732 0.32660238489385823" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0075498455057530925 -0.19942057587455303 0.326627227033986" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.0075272370088071685 -0.1993263860452732 0.32660238489385823" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_ring_prox" type="revolute">
-    <origin xyz="-0.015417865717831492 -0.0018501027039076468 -0.09790043518642758" rpy="0 0.08726650590388031 0.026179823381597748"/>
-    <axis xyz="1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="l_hand_palm"/>
-    <child link="l_hand_ring_1"/>
+  <joint name="r_ring_prox" type="revolute">
+    <origin xyz="-0.01541792137789915 0.0018501048853160618 -0.09790042637955282" rpy="0 -0.08726707208822813 3.1154130190543565"/>
+    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
+    <parent link="r_hand_palm"/>
+    <child link="r_hand_ring_1"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_ring_2">
+  <link name="r_hand_ring_2">
     <inertial>
-      <origin xyz="5.158639613809905e-05 0.001599622377635862 -0.0035905977403072886" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
-      <mass value="0.00912524"/>
-      <inertia ixx="0.01" ixy="4.76252e-08" ixz="9.4436e-07" iyy="0.01" iyz="-1.39679e-07" izz="0.01"/>
+      <origin xyz="5.1290196883116423e-05 0.001669633724482783 -0.0035938083354254413" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <mass value="0.0091955"/>
+      <inertia ixx="0.01" ixy="-5.0923e-08" ixz="-9.41261e-07" iyy="0.01" iyz="-1.45057e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.007549803385393976 -0.19792065527302388 0.3566277911453055" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.007527194888446845 -0.19782646544374372 0.35660294900517864" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0 0 1 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.007549803385393976 -0.19792065527302388 0.3566277911453055" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.007527194888446845 -0.19782646544374372 0.35660294900517864" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_ring_dist" type="revolute">
-    <origin xyz="0 -0.0014999206015294253 -0.03000056411131863" rpy="0 0 0"/>
-    <axis xyz="-1.0000005135466863 -1.979209419246744e-07 -4.060128685548503e-07"/>
-    <parent link="l_hand_ring_1"/>
-    <child link="l_hand_ring_2"/>
+  <joint name="r_ring_dist" type="revolute">
+    <origin xyz="0 -0.0014999206015293143 -0.03000056411131863" rpy="0 0 0"/>
+    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
+    <parent link="r_hand_ring_1"/>
+    <child link="r_hand_ring_2"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_ring_skin_0"/>
-  <joint name="l_hand_ring_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0 -0.002434109766516257 -0.021405903344744404" rpy="3.19241308601029e-07 1.2224879756285634 -1.5707957505342052"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_0"/>
+  <link name="r_hand_ring_skin_0"/>
+  <joint name="r_hand_ring_skin_0_fixed_joint" type="fixed">
+    <origin xyz="6.369438959753088e-07 -0.0024437159778973594 -0.021405514485143107" rpy="-1.8198440874177978e-06 1.222171074662119 -1.570798078779304"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_1"/>
-  <joint name="l_hand_ring_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.003299959717504214 -0.003131214942308308 -0.02328043103333599" rpy="7.841409816247398e-07 1.220109279873348 -1.5707953766916674"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_1"/>
+  <link name="r_hand_ring_skin_1"/>
+  <joint name="r_hand_ring_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.003300577895109416 -0.0031419827756992147 -0.023279866908672953" rpy="-8.828925104148836e-07 1.2197920927650072 -1.5707973488537736"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_2"/>
-  <joint name="l_hand_ring_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0037587551640848593 -0.02519260657118344" rpy="2.109983659924688e-06 1.3057391422971405 -1.57079420774816"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_2"/>
+  <link name="r_hand_ring_skin_2"/>
+  <joint name="r_hand_ring_skin_2_fixed_joint" type="fixed">
+    <origin xyz="6.542383091199394e-07 -0.003769121754147453 -0.02519099159351179" rpy="-2.1979342417368875e-06 1.3054216764415913 -1.5707985350956188"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_3"/>
-  <joint name="l_hand_ring_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.00329996113880285 -0.004081908765223852 -0.02776658723492642" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_3"/>
+  <link name="r_hand_ring_skin_3"/>
+  <joint name="r_hand_ring_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0033005451413349873 -0.00409366356087959 -0.027765768308842753" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_4"/>
-  <joint name="l_hand_ring_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.005929559072218123 -0.0011924106023347703 -0.02799965564814172" rpy="3.1415923272373556 1.299444799530583 2.7771553646234826"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_4"/>
+  <link name="r_hand_ring_skin_4"/>
+  <joint name="r_hand_ring_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005930120746728084 -0.0012042766764265855 -0.02799917777196037" rpy="-3.1404875010050004 1.2995572108592925 2.778219856114847"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_4"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_5"/>
-  <joint name="l_hand_ring_skin_5_fixed_joint" type="fixed">
-    <origin xyz="0 -0.003476611082493558 -0.02983485885572207" rpy="3.141592267163769 1.086225807890324 1.570796144313782"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_5"/>
+  <link name="r_hand_ring_skin_5"/>
+  <joint name="r_hand_ring_skin_5_fixed_joint" type="fixed">
+    <origin xyz="5.308718775357685e-07 -0.0034891781806687394 -0.02983370559185905" rpy="-3.141591609794059 1.0865431510862156 1.5707972515436073"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_5"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_6"/>
-  <joint name="l_hand_ring_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.0033000024742935834 -0.0018246687466072498 -0.03177155146156402" rpy="3.1415925874639985 0.7785363357981874 2.5323859043537085"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_6"/>
+  <link name="r_hand_ring_skin_6"/>
+  <joint name="r_hand_ring_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0033005698496152962 -0.0018374330365136249 -0.03177047454405013" rpy="-3.1412265136676125 0.7787173410213876 2.5326427664034585"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_6"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_7"/>
-  <joint name="l_hand_ring_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0 -0.00027318260223696544 -0.03327141530303279" rpy="3.141592083365392 0.6184190542087526 1.5713170178340956"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_7"/>
+  <link name="r_hand_ring_skin_7"/>
+  <joint name="r_hand_ring_skin_7_fixed_joint" type="fixed">
+    <origin xyz="6.201472224371535e-07 -0.0002860438799534015 -0.03327122378579056" rpy="-3.1415918554197564 0.6187360445083335 1.5713172257908574"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_8"/>
-  <joint name="l_hand_ring_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.00329992655586789 -0.001824843406352361 -0.03177163099792274" rpy="-3.141592630967883 0.7785355069422046 0.6092077934143093"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_8"/>
+  <link name="r_hand_ring_skin_8"/>
+  <joint name="r_hand_ring_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0032993851081752224 -0.0018375074923376311 -0.03177136313433143" rpy="3.1412269734474307 0.7787178284081474 0.608949710350258"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_8"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_9"/>
-  <joint name="l_hand_ring_skin_9_fixed_joint" type="fixed">
-    <origin xyz="-0.00592944612050488 -0.0011926740085301812 -0.02800007942441246" rpy="-3.1415921627311505 1.2994436529688218 0.36443765521426325"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_9"/>
+  <link name="r_hand_ring_skin_9"/>
+  <joint name="r_hand_ring_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.0059288844459949135 -0.00120401327023123 -0.02799875399568963" rpy="3.140488583833023 1.2995578078276662 0.3633736430221612"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_9"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_10"/>
-  <joint name="l_hand_ring_skin_10_fixed_joint" type="fixed">
-    <origin xyz="-0.0032999678913586076 -0.004082083424969074 -0.027766666771285198" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_10"/>
+  <link name="r_hand_ring_skin_10"/>
+  <joint name="r_hand_ring_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0032993838888264685 -0.00409348890113434 -0.02776568877248392" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_10"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_11"/>
-  <joint name="l_hand_ring_skin_11_fixed_joint" type="fixed">
-    <origin xyz="-0.003299969312657242 -0.003131389602053447 -0.023280510569694823" rpy="7.841409816247398e-07 1.220109279873348 -1.5707953766916674"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_11"/>
+  <link name="r_hand_ring_skin_11"/>
+  <joint name="r_hand_ring_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.0032994485112988765 -0.0031417855839680486 -0.02327979056232371" rpy="-8.828925104148836e-07 1.2197920927650072 -1.5707973488537736"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_11"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_middle_1">
+  <link name="r_hand_index_1">
+    <inertial>
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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"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
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+    </visual>
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+    <parent link="r_hand_palm"/>
+    <child link="r_hand_index_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
+  </joint>
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-      <material name="yellow">
-        <color rgba="1 1 0 1"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
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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"/>
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-    <parent link="l_hand_palm"/>
-    <child link="l_hand_middle_1"/>
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+    <axis xyz="-0.9999995872902697 -2.6872936789712476e-07 4.668360350512657e-07"/>
+    <parent link="r_hand_index_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hand_middle_2">
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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"/>
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-      <material name="pink">
-        <color rgba="1 0 1 1"/>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
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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"/>
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-    <parent link="l_hand_middle_1"/>
-    <child link="l_hand_middle_2"/>
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+    <axis xyz="-0.9999995872902697 -2.6872936789712476e-07 4.668360350512657e-07"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_0"/>
+  <link name="r_hand_index_skin_0"/>
+  <joint name="r_hand_index_skin_0_fixed_joint" type="fixed">
+    <origin xyz="6.083293345379714e-07 -0.0024337142786424737 -0.02140564618132018" rpy="-1.358973927973795e-06 1.2224885677301185 -1.5707970308820571"/>
+    <parent link="r_hand_index_3"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_1"/>
+  <link name="r_hand_index_skin_1"/>
+  <joint name="r_hand_index_skin_1_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_2"/>
+  <link name="r_hand_index_skin_2"/>
+  <joint name="r_hand_index_skin_2_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_3"/>
+  <link name="r_hand_index_skin_3"/>
+  <joint name="r_hand_index_skin_3_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_4"/>
+  <link name="r_hand_index_skin_4"/>
+  <joint name="r_hand_index_skin_4_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_4"/>
     <dynamics damping="0.1"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_5"/>
+  <link name="r_hand_index_skin_5"/>
+  <joint name="r_hand_index_skin_5_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_6"/>
+  <link name="r_hand_index_skin_6"/>
+  <joint name="r_hand_index_skin_6_fixed_joint" type="fixed">
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-    <child link="l_hand_middle_skin_7"/>
+  <link name="r_hand_index_skin_7"/>
+  <joint name="r_hand_index_skin_7_fixed_joint" type="fixed">
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-    <child link="l_hand_middle_skin_8"/>
+  <link name="r_hand_index_skin_8"/>
+  <joint name="r_hand_index_skin_8_fixed_joint" type="fixed">
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+  <joint name="r_hand_index_skin_10_fixed_joint" type="fixed">
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-    <child link="l_hand_middle_skin_11"/>
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+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_11"/>
     <dynamics damping="0.1"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <axis xyz="0.0 -1.0 0.0"/>
+  <joint name="l_shoulder_pitch" type="revolute">
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     <parent link="chest"/>
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+    <child link="l_shoulder_1"/>
+    <limit effort="50000" lower="-3.0543261909900767" upper="0.3490658503988659" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="neck_3">
+  <link name="l_shoulder_2">
     <inertial>
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-        <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_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="neck_3_color">
+      <material name="l_shoulder_2_color">
         <color rgba="0.9 0.9 0.9 1"/>
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-      <origin xyz="-0.0048615099999979915 -4.9999999999924684e-05 -0.29927000000000026" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.01642850313247387 -0.19975933535232593 -0.1680239607265381" rpy="0.12008501986317731 0.2297882840735942 1.8533146530335884"/>
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-        <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_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="neck_roll" type="revolute">
-    <origin xyz="0 0 0.009500000000000008" rpy="0 0 0"/>
-    <axis xyz="1.0 0.0 0.0"/>
-    <parent link="neck_2"/>
-    <child link="neck_3"/>
-    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
+  <joint name="l_shoulder_roll" type="revolute">
+    <origin xyz="0.00500012990494483 0.09329948520836115 -4.341360000936767e-07" rpy="0 0 0"/>
+    <axis xyz="0.9999998262416893 3.56920377206707e-07 2.721582535170075e-07"/>
+    <parent link="l_shoulder_1"/>
+    <child link="l_shoulder_2"/>
+    <limit effort="50000" lower="0.20943951023931956" upper="2.8448866807507573" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="head">
+  <link name="l_shoulder_3">
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     <visual>
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       <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_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="head_color">
+      <material name="l_shoulder_3_color">
         <color rgba="0.9 0.9 0.9 1"/>
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-      <origin xyz="-0.004861509999998024 -4.999999999993563e-05 -0.3684200000000006" rpy="0 0 1.5707963267948966"/>
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       <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_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="neck_yaw" type="revolute">
-    <origin xyz="0 0 0.06915000000000004" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 1.0"/>
-    <parent link="neck_3"/>
-    <child link="head"/>
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-    <dynamics damping="2.0" friction="0.0"/>
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-  <link name="imu_frame"/>
-  <joint name="imu_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.004299998 -0.0055 0.03823499999999996" rpy="3.141592653589793 0 1.5707963267948966"/>
-    <parent link="head"/>
-    <child link="imu_frame"/>
-    <dynamics damping="0.1"/>
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-  <link name="head_laser_frame"/>
-  <joint name="head_laser_frame_fixed_joint" type="fixed">
-    <origin xyz="4.99999999999997e-05 0 0.13480199999999992" rpy="0 0 1.5707963267948966"/>
-    <parent link="head"/>
-    <child link="head_laser_frame"/>
+  <joint name="l_arm_ft_sensor" type="fixed">
+    <origin xyz="-0.004350065786786487 2.435985168580679e-07 -0.054299880148590496" rpy="0 0 0"/>
+    <parent link="l_shoulder_2"/>
+    <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="realsense">
+  <link name="l_upperarm">
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-        <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_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="cyan">
-        <color rgba="0 1 1 1"/>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
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-        <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_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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-    <parent link="head"/>
-    <child link="realsense"/>
-    <limit effort="50000" lower="-0.5235987755982988" upper="0.5235987755982988" velocity="120.0"/>
+  <joint name="l_shoulder_yaw" type="revolute">
+    <origin xyz="0 0 -0.022500225580001282" rpy="0 0 0"/>
+    <axis xyz="-3.936910710766739e-07 1.8507626386998766e-07 0.9999995705743131"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_upperarm"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="realsense_depth_frame"/>
-  <joint name="realsense_depth_frame_fixed_joint" type="fixed">
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-    <parent link="realsense"/>
-    <child link="realsense_depth_frame"/>
-    <dynamics damping="0.1"/>
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-  <link name="realsense_rgb_frame"/>
-  <joint name="realsense_rgb_frame_fixed_joint" type="fixed">
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-    <parent link="realsense"/>
-    <child link="realsense_rgb_frame"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="l_hip_1">
+  <link name="l_forearm">
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-        <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_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_hip_1_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="l_forearm_color">
+        <color rgba="0.3 0.3 0.3 1"/>
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-        <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_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_hip_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
+  <joint name="l_elbow" type="revolute">
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+    <axis xyz="-1.4958988243767013e-07 -0.9999999783534517 -2.7220291587415346e-07"/>
+    <parent link="l_upperarm"/>
+    <child link="l_forearm"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hip_2">
+  <link name="l_wrist_1">
     <inertial>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_hip_2_color">
+      <material name="l_wrist_1_color">
         <color rgba="0.9 0.9 0.9 1"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_hip_2"/>
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+  <joint name="l_wrist_yaw" type="revolute">
+    <origin xyz="-0.015000090840254894 0.0020007008753266664 -0.19435007309759766" rpy="0 0 0"/>
+    <axis xyz="3.936910710766739e-07 -1.8507626386998766e-07 -0.9999995705743131"/>
+    <parent link="l_forearm"/>
+    <child link="l_wrist_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hip_3">
+  <link name="l_wrist_2">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_hip_3_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
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-        <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_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_leg_ft_sensor" type="fixed">
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-    <parent link="l_hip_2"/>
-    <child link="l_hip_3"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_wrist_roll" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262416893 -3.56920377206707e-07 -2.721582535170075e-07"/>
+    <parent link="l_wrist_1"/>
+    <child link="l_wrist_2"/>
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+    <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_upper_leg">
+  <link name="l_hand_palm">
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     <visual>
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-        <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_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_upper_leg_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
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-        <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_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_hip_yaw" type="revolute">
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-    <axis xyz="0.0 0.0 1.0"/>
-    <parent link="l_hip_3"/>
-    <child link="l_upper_leg"/>
-    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="l_wrist_pitch" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="-1.4958988243767013e-07 -0.9999999783534517 -2.7220291587415346e-07"/>
+    <parent link="l_wrist_2"/>
+    <child link="l_hand_palm"/>
+    <limit effort="50000" lower="-0.5585053606381855" upper="0.5585053606381855" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_lower_leg">
+  <link name="l_hand_ring_1">
     <inertial>
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+      <origin xyz="0.00014280339169172197 0.0036426704125520626 -0.014331537616628587" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
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       <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_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_lower_leg_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
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     <collision>
-      <origin xyz="-0.021150000000000016 0.06070000000000036 -0.5296000000000004" rpy="3.141592653589793 0 -1.5707963267948966"/>
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-        <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_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_knee" type="revolute">
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-    <parent link="l_upper_leg"/>
-    <child link="l_lower_leg"/>
-    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
+  <joint name="l_ring_prox" type="revolute">
+    <origin xyz="-0.015417865717831492 -0.0018501027039076468 -0.09790043518642755" rpy="0 0.08726650590388031 0.026179823381597748"/>
+    <axis xyz="1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_ring_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_ankle_1">
+  <link name="l_hand_ring_2">
     <inertial>
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+      <origin xyz="5.158639613811293e-05 0.0015996223776358065 -0.003590597740307344" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
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     <visual>
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-        <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_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_ankle_1_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
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     </visual>
     <collision>
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-        <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_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <parent link="l_lower_leg"/>
-    <child link="l_ankle_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+  <joint name="l_ring_dist" type="revolute">
+    <origin xyz="0 -0.0014999206015293143 -0.03000056411131863" rpy="0 0 0"/>
+    <axis xyz="-1.0000005135466863 -1.979209419246744e-07 -4.060128685548503e-07"/>
+    <parent link="l_hand_ring_1"/>
+    <child link="l_hand_ring_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_ankle_2">
+  <link name="l_hand_ring_skin_0"/>
+  <joint name="l_hand_ring_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0 -0.002434109766516368 -0.021405903344744404" rpy="3.19241308601029e-07 1.2224879756285634 -1.5707957505342052"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_1"/>
+  <joint name="l_hand_ring_skin_1_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_2"/>
+  <joint name="l_hand_ring_skin_2_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_3"/>
+  <joint name="l_hand_ring_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0032999611388028777 -0.004081908765223963 -0.02776658723492642" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_4"/>
+  <joint name="l_hand_ring_skin_4_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_5"/>
+  <joint name="l_hand_ring_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034766110824936136 -0.02983485885572207" rpy="3.141592267163769 1.086225807890324 1.570796144313782"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_6"/>
+  <joint name="l_hand_ring_skin_6_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_7"/>
+  <joint name="l_hand_ring_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0 -0.000273182602237132 -0.03327141530303279" rpy="3.141592083365392 0.6184190542087526 1.5713170178340956"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_8"/>
+  <joint name="l_hand_ring_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.003299926555867876 -0.001824843406352472 -0.03177163099792274" rpy="-3.141592630967883 0.7785355069422046 0.6092077934143093"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_9"/>
+  <joint name="l_hand_ring_skin_9_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_10"/>
+  <joint name="l_hand_ring_skin_10_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_11"/>
+  <joint name="l_hand_ring_skin_11_fixed_joint" type="fixed">
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+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_11"/>
+    <dynamics damping="0.1"/>
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+  <link name="l_hand_index_1">
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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"/>
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-      <material name="l_ankle_2_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="dblue">
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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"/>
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-    <child link="l_ankle_2"/>
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+  <joint name="l_index_add" type="revolute">
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+    <child link="l_hand_index_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_foot_front">
+  <link name="l_hand_index_2">
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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"/>
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-      <material name="l_foot_front_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="dgreen">
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     <collision>
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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"/>
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-  <joint name="l_foot_front_ft_sensor" type="fixed">
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-    <parent link="l_ankle_2"/>
-    <child link="l_foot_front"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_index_prox" type="revolute">
+    <origin xyz="0.009192549743036973 -1.6307953948357934e-07 -0.030713623202012375" rpy="0 0 0"/>
+    <axis xyz="-0.9999995872902697 2.6872936789712476e-07 -4.668360350512657e-07"/>
+    <parent link="l_hand_index_1"/>
+    <child link="l_hand_index_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_foot_rear">
+  <link name="l_hand_index_3">
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     <visual>
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       <geometry>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_foot_rear_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.019850732699259722 -0.19720947570560032 0.35471630507241264" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
       <geometry>
-        <box size="0.117 0.1 0.006"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_foot_rear_ft_sensor" type="fixed">
-    <origin xyz="0.016000000000000004 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="l_ankle_2"/>
-    <child link="l_foot_rear"/>
+  <joint name="l_index_dist" type="revolute">
+    <origin xyz="0 -0.0015006327879180659 -0.02999922319857601" rpy="0 0 0"/>
+    <axis xyz="-0.9999995872902697 2.6872936789712476e-07 -4.668360350512657e-07"/>
+    <parent link="l_hand_index_2"/>
+    <child link="l_hand_index_3"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
+  </joint>
+  <link name="l_hand_index_skin_0"/>
+  <joint name="l_hand_index_skin_0_fixed_joint" type="fixed">
+    <origin xyz="2.02830541008725e-07 -0.0024337142787178856 -0.0214068046370407" rpy="1.3589739287870087e-06 1.222488567730119 -1.5707956227077366"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_sole"/>
-  <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
-    <parent link="l_foot_rear"/>
-    <child link="l_sole"/>
+  <link name="l_hand_index_skin_1"/>
+  <joint name="l_hand_index_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.00330018002039012 -0.0031312039972868355 -0.023281879205948874" rpy="1.0045087854148686e-06 1.2201097511639785 -1.5707952579461582"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hip_1">
+  <link name="l_hand_index_skin_2"/>
+  <joint name="l_hand_index_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0037582722604465324 -0.025193049887115737" rpy="2.019258946672971e-07 1.305739917586136 -1.5707964798904088"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_3"/>
+  <joint name="l_hand_index_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.003300267266284379 -0.004081629333989534 -0.027767962761985454" rpy="3.1415923305252225 1.5047762567210512 1.5707960116499358"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_4"/>
+  <joint name="l_hand_index_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929574139393212 -0.0011921762933711222 -0.02800035143013324" rpy="-3.141592000798577 1.2994444690524731 2.7771560098086976"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_5"/>
+  <joint name="l_hand_index_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034767433707287576 -0.029836323676495524" rpy="3.1415916993735475 1.0862258770767357 1.570795618249084"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_6"/>
+  <joint name="l_hand_index_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0032998108383007554 -0.0018242465422362297 -0.03177275148589709" rpy="3.1415920569068843 0.7785360318433139 2.532384926237606"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_7"/>
+  <joint name="l_hand_index_skin_7_fixed_joint" type="fixed">
+    <origin xyz="-1.7765327827573563e-07 -0.000272313592458967 -0.03327286783966488" rpy="3.141592488071993 0.6184189897566703 1.5713167119394844"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_8"/>
+  <joint name="l_hand_index_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.003299617986161782 -0.001823842286354016 -0.03177291710655328" rpy="3.1415926400948937 0.7785356574796937 0.6092071825770647"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_9"/>
+  <joint name="l_hand_index_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929289581785957 -0.0011924954736174942 -0.0280007264298755" rpy="-3.141591222167342 1.2994438865660223 0.36443832683545135"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_10"/>
+  <joint name="l_hand_index_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0033001087817297603 -0.004081475640777432 -0.027767928417915755" rpy="3.1415923305252225 1.5047762567210512 1.5707960116499358"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_11"/>
+  <joint name="l_hand_index_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.003300196027624047 -0.0031310503040746507 -0.02328184486187923" rpy="1.0045087854148686e-06 1.2201097511639785 -1.5707952579461582"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_1">
     <inertial>
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     <visual>
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       <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_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_hip_1_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.021099999999984832 0.0505 0.1785000000000018" rpy="0 0 1.5707963267948966"/>
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       <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_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_hip_pitch" type="revolute">
-    <origin xyz="0.0211 -0.050550000000000005 0" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
-    <parent link="root_link"/>
-    <child link="r_hip_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
+  <joint name="l_middle_prox" type="revolute">
+    <origin xyz="0.009600214668670098 -0.0015008571910165858 -0.10299987654370085" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262416893 -3.56920377206707e-07 -2.721582535170075e-07"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_middle_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hip_2">
+  <link name="l_hand_middle_2">
     <inertial>
-      <origin xyz="-0.004133600000000001 -4.650000000000487e-05 -0.03744" rpy="0 0 1.5707963267948966"/>
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+      <origin xyz="5.172124499746439e-05 0.0015996341583800477 -0.003590479003163727" rpy="0.11954926259843997 0.22799029281164018 1.8531928341958708"/>
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     <visual>
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       <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_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_hip_2_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="0.026200000000015138 0.08360000000001595 0.1874999999999947" rpy="0 0 1.5707963267948966"/>
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       <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_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_roll" type="revolute">
-    <origin xyz="-0.0473 -0.03309999999999999 -0.009000000000000008" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_hip_1"/>
-    <child link="r_hip_2"/>
-    <limit effort="50000" lower="-0.17453292519943295" upper="1.9547687622336491" velocity="120.0"/>
+  <joint name="l_middle_dist" type="revolute">
+    <origin xyz="-1.3550151000546462e-07 -0.0014995238274964628 -0.03000020325318492" rpy="-0.0018721728628663644 0 2.576685250299645e-07"/>
+    <axis xyz="-0.9999998262417538 -9.878318872787173e-08 -2.5044776373606137e-07"/>
+    <parent link="l_hand_middle_1"/>
+    <child link="l_hand_middle_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hip_3">
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-      </geometry>
-      <material name="r_hip_3_color">
-        <color rgba="0.3 0.3 0.3 1"/>
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-      <origin xyz="-0.01049999999998486 0.08360000000001595 0.27719999999999473" rpy="0 0 1.5707963267948966"/>
-      <geometry>
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-      </geometry>
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-  </link>
-  <joint name="r_leg_ft_sensor" type="fixed">
-    <origin xyz="0.0367 0 -0.0897" rpy="0 0 0"/>
-    <parent link="r_hip_2"/>
-    <child link="r_hip_3"/>
+  <link name="l_hand_middle_skin_0"/>
+  <joint name="l_hand_middle_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0024341633880323454 -0.02140626784029226" rpy="2.8880021565356356e-07 1.2224888157071614 -1.5707959092703505"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_1"/>
+  <joint name="l_hand_middle_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.0032999923469937895 -0.0031310595632358384 -0.023281089805274435" rpy="1.4298532751994242e-06 1.2201100060845365 -1.5707950386454854"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_2"/>
+  <joint name="l_hand_middle_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0037584600637464993 -0.025193167911877645" rpy="2.67805384222918e-06 1.3057397262072086 -1.5707938810851714"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_3"/>
+  <joint name="l_hand_middle_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.003300181170510192 -0.004082174556855278 -0.027766773373389564" rpy="3.14159206598453 1.504776403539619 1.5707957068952807"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_4"/>
+  <joint name="l_hand_middle_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929732632988013 -0.001192832553830403 -0.027999915681298115" rpy="3.141592336413363 1.299444945688194 2.7771552495198835"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_5"/>
+  <joint name="l_hand_middle_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034765832806818997 -0.02983570347842418" rpy="3.1415923106025314 1.086225709334958 1.5707962889575584"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_6"/>
+  <joint name="l_hand_middle_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0033001032954547184 -0.0018248945553451246 -0.031771757727755756" rpy="-3.1415924841511433 0.7785357399039169 2.532385692627037"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_7"/>
+  <joint name="l_hand_middle_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0002725978091493997 -0.033271502713935364" rpy="3.141592263055179 0.6184187545317414 1.5713165725114155"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_8"/>
+  <joint name="l_hand_middle_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999946700499154 -0.0018244087955724964 -0.0317716170907979" rpy="-3.141592114011197 0.7785357191047289 0.60920707683613"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_9"/>
+  <joint name="l_hand_middle_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929566529031996 -0.0011920519924579764 -0.028000347463470243" rpy="-3.141592260042174 1.299444239340149 0.3644371706703166"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_10"/>
+  <joint name="l_hand_middle_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999688028366864 -0.004081937549531761 -0.027767599906222185" rpy="3.14159206598453 1.504776403539619 1.5707957068952807"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_11"/>
+  <joint name="l_hand_middle_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999302761450126 -0.0031315344195035066 -0.023280711530192733" rpy="1.4298532751994242e-06 1.2201100060845365 -1.5707950386454854"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_11"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_upper_leg">
+  <link name="l_hand_thumb_1">
     <inertial>
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+      <mass value="0.0346205"/>
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     </inertial>
     <visual>
-      <origin xyz="-0.010499999999984893 0.06860000000001601 0.3498999999999947" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
       <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_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_upper_leg_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.010499999999984893 0.06860000000001601 0.3498999999999947" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
       <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_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_yaw" type="revolute">
-    <origin xyz="0 0.015 -0.07269999999999999" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="r_hip_3"/>
-    <child link="r_upper_leg"/>
-    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="l_thumb_add" type="revolute">
+    <origin xyz="0.023374937816838005 -0.003000071417791822 -0.034523522800941175" rpy="0.08853717963934662 -0.2091803673917457 -0.40396882311318977"/>
+    <axis xyz="-9.579078130705909e-08 6.90101362721407e-08 -1.0000003967894144"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_thumb_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_lower_leg">
+  <link name="l_hand_thumb_2">
     <inertial>
-      <origin xyz="0.0011584999999999998 0.006200199999999989 0.21425899999999998" rpy="3.141592653589793 0 -1.5707963267948966"/>
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+      <origin xyz="0.009791991208288692 0.004339703993751859 0.0002629570752250565" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <mass value="0.00246082"/>
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     <visual>
-      <origin xyz="-0.02109999999998385 -0.060700000000016026 -0.5295999999999949" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_lower_leg_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.02109999999998385 -0.060700000000016026 -0.5295999999999949" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
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-  <joint name="r_knee" type="revolute">
-    <origin xyz="0.0106 0.00789999999999999 -0.17970000000000008" rpy="3.141592653589793 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="r_upper_leg"/>
-    <child link="r_lower_leg"/>
-    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
+  <joint name="l_thumb_prox" type="revolute">
+    <origin xyz="0.03454190438141733 0.0031447987794122334 -0.026071809138455138" rpy="1.3486854426081958 0.6514100961972398 1.2371890149379312e-06"/>
+    <axis xyz="-6.65068723482154e-07 2.7824760159833595e-07 1.0000002266902146"/>
+    <parent link="l_hand_thumb_1"/>
+    <child link="l_hand_thumb_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_ankle_1">
+  <link name="l_hand_thumb_3">
     <inertial>
-      <origin xyz="-0.001367199999999999 -0.0006601999999999997 -0.01408699999999996" rpy="0 0 1.5707963267948966"/>
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-      <inertia ixx="0.01" ixy="-8.99183e-06" ixz="5.52411e-05" iyy="0.01" iyz="1.03371e-05" izz="0.01"/>
+      <origin xyz="0.006464657686845246 0.001884491656128695 1.5530289565829358e-05" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <mass value="0.00811336"/>
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     <visual>
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+      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_ankle_1_color">
-        <color rgba="0.9 0.9 0.9 1"/>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.021100000000058197 0.092600000000016 0.8505999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
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-  <joint name="r_ankle_pitch" type="revolute">
-    <origin xyz="0 0.0319 0.32099999999999995" rpy="3.141592653589793 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="r_lower_leg"/>
-    <child link="r_ankle_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+  <joint name="l_thumb_dist" type="revolute">
+    <origin xyz="0.01999951842714734 -0.0014995220956423305 4.0850220001109605e-07" rpy="0 0 0"/>
+    <axis xyz="-6.65068723482154e-07 2.7824760159833595e-07 1.0000002266902146"/>
+    <parent link="l_hand_thumb_2"/>
+    <child link="l_hand_thumb_3"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_ankle_2">
-    <inertial>
-      <origin xyz="0.040526469999999995 -8.640000000000037e-05 -0.023870999999999976" rpy="0 0 1.5707963267948966"/>
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-    <visual>
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-      <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="r_ankle_2_color">
-        <color rgba="0.3 0.3 0.3 1"/>
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-      <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-  </link>
-  <joint name="r_ankle_roll" type="revolute">
-    <origin xyz="-0.05275 0.018199999999999994 -0.03500000000000003" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_ankle_1"/>
-    <child link="r_ankle_2"/>
-    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <link name="l_hand_thumb_skin_0"/>
+  <joint name="l_hand_thumb_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.020306533379063282 -0.0024343101858567417 -1.02177518712665e-06" rpy="1.5707963529634608 -7.763677284389983e-07 -0.348308299608484"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_0"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_foot_front">
+  <link name="l_hand_thumb_skin_1"/>
+  <joint name="l_hand_thumb_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.02218144130259432 -0.003131520277003974 0.0033000550744306523" rpy="1.5707968798775 -6.358788514904552e-07 -0.3506868205285684"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_2"/>
+  <joint name="l_hand_thumb_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.024092765288315235 -0.0037586699455105788 0" rpy="1.5707966249662435 -6.175239036510354e-07 -0.26505736279648673"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_3"/>
+  <joint name="l_hand_thumb_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.02666722402677603 -0.004082581893144865 0.0032996629815040257" rpy="1.5707965227938288 -9.019462447191873e-07 0.06601977594073062"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_4"/>
+  <joint name="l_hand_thumb_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.02690021104599309 -0.0011927877443135282 0.0059287648863864395" rpy="0.37702429099789225 0.2531248955594458 0.09883894762271977"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_5"/>
+  <joint name="l_hand_thumb_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0.028735478235047893 -0.00347687151090062 -3.1587642940200666e-07" rpy="1.5707957126757448 -5.513795408585156e-07 0.4845703956395784"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_6"/>
+  <joint name="l_hand_thumb_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.030672478717119214 -0.0018246658485785439 0.0032996972420061" rpy="0.7821843436480906 0.6234816082641762 0.5256769446782557"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_7"/>
+  <joint name="l_hand_thumb_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0.03217216332171892 -0.0002731248779968831 0" rpy="1.5704939137056884 0.00042393168110662526 0.9523772903877968"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_8"/>
+  <joint name="l_hand_thumb_skin_8_fixed_joint" type="fixed">
+    <origin xyz="0.030671762678273276 -0.0018250383011248483 -0.0033001906622364408" rpy="2.3594071882842584 -0.6234824919681496 0.5256776375213161"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_9"/>
+  <joint name="l_hand_thumb_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.026900642650424703 -0.0011927733091181558 -0.005929763387118231" rpy="2.764568857310248 -0.253126241141505 0.09883859873338112"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_10"/>
+  <joint name="l_hand_thumb_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.026667719682656202 -0.00408229584322653 -0.003299911601186978" rpy="1.5707965227938288 -9.019462447191873e-07 0.06601977594073062"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_11"/>
+  <joint name="l_hand_thumb_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.022181516794865866 -0.00313158061241825 -0.00330035824525321" rpy="1.5707968798775 -6.358788514904552e-07 -0.3506868205285684"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_pinkie_1">
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     <visual>
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       <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_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_foot_front_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
       <geometry>
-        <box size="0.117 0.1 0.006"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_foot_front_ft_sensor" type="fixed">
-    <origin xyz="0.13524999999999998 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_front"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_pinkie_prox" type="revolute">
+    <origin xyz="-0.03598224264195511 -0.002388684875026248 -0.09208535104881393" rpy="0 0.08726650590388031 0.026179823381597748"/>
+    <axis xyz="-1.0000005135466863 -1.979209419246744e-07 -4.060128685548503e-07"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_pinkie_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_foot_rear">
+  <link name="l_hand_pinkie_2">
     <inertial>
-      <origin xyz="0.0005879000000000006 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.221105"/>
-      <inertia ixx="0.01" ixy="0.0" ixz="-4.27001e-09" iyy="0.01" iyz="3.29086e-09" izz="0.01"/>
+      <origin xyz="1.712559800553376e-05 0.0017852152950040279 -0.005612274232820069" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
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     <visual>
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       <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_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_foot_rear_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
       <geometry>
-        <box size="0.117 0.1 0.006"/>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_rear_ft_sensor" type="fixed">
-    <origin xyz="0.015999999999999997 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_rear"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_sole"/>
-  <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
-    <parent link="r_foot_rear"/>
-    <child link="r_sole"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_pinkie_dist" type="revolute">
+    <origin xyz="0 -0.0014997508602252463 -0.025000232410908152" rpy="3.5631170772755025e-05 -5.94559868174076e-07 -5.245059638522189e-07"/>
+    <axis xyz="-1.0000005135465095 -7.224204564889453e-07 1.88573045758339e-07"/>
+    <parent link="l_hand_pinkie_1"/>
+    <child link="l_hand_pinkie_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
   <link name="base_link"/>
   <joint name="base_link_fixed_joint" type="fixed">
@@ -3102,7 +3117,7 @@
     <sensor name="realsense_head_depth" type="depth">
       <always_on>1</always_on>
       <update_rate>30</update_rate>
-      <pose>0.00751550026595621 0.010000000000000004 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
+      <pose>0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
       <camera name="intel_realsense_depth_camera">
   <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
   <horizontal_fov>1.57079</horizontal_fov>
@@ -3132,7 +3147,7 @@
   </gazebo>
   <sensor name="realsense_head_depth" type="depth">
     <parent link="realsense"/>
-    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000004 -4.911144457775407e-08"/>
+    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000005 -4.911144457775407e-08"/>
   </sensor>
   <gazebo reference="realsense">
     <sensor name="realsense_head_rgb" type="camera">
@@ -3174,7 +3189,7 @@
     <sensor name="realsense_imu_acc_1x1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.00751550026595621 0.010000000000000004 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
+      <pose>0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
     <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
 </plugin>
@@ -3182,7 +3197,7 @@
   </gazebo>
   <sensor name="realsense_imu_acc_1x1" type="accelerometer">
     <parent link="realsense"/>
-    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000004 -4.911144457775407e-08"/>
+    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000005 -4.911144457775407e-08"/>
   </sensor>
   <gazebo reference="head">
     <sensor name="lasersensor_head" type="ray">
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
index d01c7469..2d646c3b 100644
--- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -1,12 +1,12 @@
 <robot name="ergoCub">
   <link name="root_link">
     <inertial>
-      <origin xyz="0.00247235 -0.000154174 0.02343999999999999" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.82266"/>
-      <inertia ixx="0.00437951" ixy="-1.22684e-06" ixz="1.39583e-05" iyy="0.00562898" iyz="-2.30647e-05" izz="0.00361648"/>
+      <origin xyz="0.0024749 -0.000105079 0.02344999999999997" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.82375"/>
+      <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 -5e-05 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -15,2644 +15,2659 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -5e-05 0.1785" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0 0 0.1785" rpy="0 0 1.5707963267948966"/>
       <geometry>
         <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_root_link_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <link name="torso_1">
+  <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.00957343 0.000567919 0.0824068" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.01154"/>
-      <inertia ixx="0.00708754" ixy="6.65062e-06" ixz="-1.29175e-05" iyy="0.00580763" iyz="0.00072369" izz="0.00294356"/>
+      <origin xyz="-0.0040321 -0.028249399999999994 -0.0006740000000000079" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.23209"/>
+      <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 -5.000000000001411e-05 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="torso_1_color">
+      <material name="r_hip_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -5.000000000001411e-05 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.021099999999999997 0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_roll" type="revolute">
-    <origin xyz="0 0 0.060499999999999984" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
+  <joint name="r_hip_pitch" type="revolute">
+    <origin xyz="0.0211 -0.0505 0" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
     <parent link="root_link"/>
-    <child link="torso_1"/>
-    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
+    <child link="r_hip_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="torso_2">
+  <link name="r_hip_2">
     <inertial>
-      <origin xyz="0.00157247 0.00359887 0.02601949999999994" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.705163"/>
-      <inertia ixx="0.000667553" ixy="-4.17216e-06" ixz="6.9824e-05" iyy="0.0012589" iyz="5.39818e-06" izz="0.00114569"/>
+      <origin xyz="-0.004133600000000001 -4.650000000000487e-05 -0.03744" rpy="0 0 1.5707963267948966"/>
+      <mass value="1.8336"/>
+      <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 -4.9999999999999894e-05 0" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="torso_2_color">
+      <material name="r_hip_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -4.9999999999999894e-05 0" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.0262 0.08360000000001593 0.1874999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_pitch" type="revolute">
-    <origin xyz="0 0 0.11800000000000006" rpy="0 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="torso_1"/>
-    <child link="torso_2"/>
-    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
+  <joint name="r_hip_roll" type="revolute">
+    <origin xyz="-0.04725 -0.03309999999999999 -0.009000000000000008" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="r_hip_1"/>
+    <child link="r_hip_2"/>
+    <limit effort="50000" lower="-0.17453292519943295" upper="1.9547687622336491" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="chest">
+  <link name="r_hip_3">
     <inertial>
-      <origin xyz="-0.010721 -0.00035277700000000003 0.07611099999999998" rpy="0 0 1.5707963267948966"/>
-      <mass value="8.06547"/>
-      <inertia ixx="0.0449389" ixy="-0.000176245" ixz="-0.000129104" iyy="0.0484548" iyz="0.000312401" izz="0.0306877"/>
+      <origin xyz="0.005150999999999999 0.012832099999999999 -0.051687999999999956" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.1479"/>
+      <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 -5.0000000000007924e-05 -0.06446999999999992" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="chest_color">
+      <material name="r_hip_3_color">
         <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 -5.0000000000007924e-05 -0.06446999999999992" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.0105 0.08360000000001593 0.2771999999999929" rpy="0 0 1.5707963267948966"/>
       <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_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_yaw" type="revolute">
-    <origin xyz="0 0 0.06446999999999994" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="torso_2"/>
-    <child link="chest"/>
-    <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="r_leg_ft_sensor" type="fixed">
+    <origin xyz="0.036699999999999997 0 -0.0897" rpy="0 0 0"/>
+    <parent link="r_hip_2"/>
+    <child link="r_hip_3"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_shoulder_1">
+  <link name="r_upper_leg">
     <inertial>
-      <origin xyz="0.00032607653388369573 -0.0955420804432296 0.0003884043171779872" rpy="0.45734294556344546 -0.12149383150453615 1.2287112550496297"/>
-      <mass value="0.792333"/>
-      <inertia ixx="0.000434264" ixy="-0.000205125" ixz="0.0001946" iyy="0.00115531" iyz="4.97721e-05" izz="0.0011467"/>
+      <origin xyz="0.008517482820396669 -0.014468510113492955 -0.12674999999999997" rpy="0 0 1.5707963267956018"/>
+      <mass value="2.78492"/>
+      <inertia ixx="0.0121093" ixy="-5.45559e-05" ixz="-0.000403319" iyy="0.0118603" iyz="-0.000539364" izz="0.00226097"/>
     </inertial>
     <visual>
-      <origin xyz="-0.03736455866996381 0.0786663640924054 -0.16523200446151448" rpy="0.45734294556344546 -0.12149383150453615 1.2287112550496297"/>
+      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
       <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_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_shoulder_1_color">
+      <material name="r_upper_leg_color">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.03736455866996381 0.0786663640924054 -0.16523200446151448" rpy="0.45734294556344546 -0.12149383150453615 1.2287112550496297"/>
+      <origin xyz="-0.01050000004578778 0.068600000000031 0.3498999999999929" rpy="0 0 1.5707963267956018"/>
       <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_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_shoulder_pitch" type="revolute">
-    <origin xyz="-0.0204593 -0.041145 0.11657900000000002" rpy="-0.27424832783738673 -0.38925923297765797 0.3681645553764718"/>
-    <axis xyz="-3.4409606744501e-07 0.9999999783533522 4.2068387506866145e-07"/>
-    <parent link="chest"/>
-    <child link="r_shoulder_1"/>
-    <limit effort="50000" lower="-3.0543261909900767" upper="0.3490658503988659" velocity="120.0"/>
+  <joint name="r_hip_yaw" type="revolute">
+    <origin xyz="0 0.015 -0.07269999999999999" rpy="0 0 1.187379294776138e-06"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="r_hip_3"/>
+    <child link="r_upper_leg"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_2">
+  <link name="r_lower_leg">
     <inertial>
-      <origin xyz="0.005113569084782336 -0.00021356072357139877 -0.020425582617945248" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
-      <mass value="0.439227"/>
-      <inertia ixx="0.000395699" ixy="5.0249e-05" ixz="-6.50761e-05" iyy="0.000320925" iyz="7.8196e-05" izz="0.000267432"/>
+      <origin xyz="0.0011584999999999998 0.006200199999999989 0.21425899999999998" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <mass value="3.74161"/>
+      <inertia ixx="0.0472543" ixy="-3.40915e-05" ixz="-0.0018183" iyy="0.0460139" iyz="0.000851474" izz="0.00478515"/>
     </inertial>
     <visual>
-      <origin xyz="0.013901412308925503 0.19966640414374212 -0.1680465779300939" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
       <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_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_shoulder_2_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="r_lower_leg_color">
+        <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.013901412308925503 0.19966640414374212 -0.1680465779300939" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="-0.021099999999999997 -0.060700000000000004 -0.5296000000000003" rpy="3.141592653589793 0 -1.5707963267948966"/>
       <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_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007047626988282561 -0.1210001256259653 -0.0025653969156163303" rpy="5.46356877807044e-07 0.3490654496846719 1.404737718226305e-07"/>
-    <axis xyz="-0.9999998262417322 1.7128582631247002e-07 2.9287109011566503e-07"/>
-    <parent link="r_shoulder_1"/>
-    <child link="r_shoulder_2"/>
-    <limit effort="50000" lower="0.20943951023931956" upper="2.8448866807507573" velocity="120.0"/>
+  <joint name="r_knee" type="revolute">
+    <origin xyz="0.010600009380288952 0.007899987413773887 -0.17970000000000008" rpy="3.141592653589793 0 -1.187379294776138e-06"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="r_upper_leg"/>
+    <child link="r_lower_leg"/>
+    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_3">
+  <link name="r_ankle_1">
     <inertial>
-      <origin xyz="-8.316742504336366e-05 -3.0846217982133384e-05 -0.007966675096942738" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
-      <mass value="0.271466"/>
-      <inertia ixx="7.88881e-05" ixy="1.72745e-06" ixz="1.11496e-05" iyy="7.70973e-05" iyz="5.68308e-06" izz="0.0001241"/>
+      <origin xyz="-0.0013671999999999955 -0.0006601999999999997 -0.01408699999999996" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.348128"/>
+      <inertia ixx="0.00057538" ixy="-8.99183e-06" ixz="5.52411e-05" iyy="0.000247405" iyz="1.03371e-05" izz="0.000462676"/>
     </inertial>
     <visual>
-      <origin xyz="0.02075132285211596 0.1996660773505882 -0.11374685915473098" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
       <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_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_shoulder_3_color">
+      <material name="r_ankle_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
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+      <origin xyz="-0.021099999999999997 0.0926 0.8505999999999999" rpy="0 0 1.5707963267948966"/>
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-        <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_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <parent link="r_shoulder_2"/>
-    <child link="r_shoulder_3"/>
-    <dynamics damping="0.1"/>
+  <joint name="r_ankle_pitch" type="revolute">
+    <origin xyz="0 0.0319 0.32099999999999995" rpy="3.141592653589793 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_ankle_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_upperarm">
+  <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0001470636560164315 -0.002335316124503578 -0.05011665894829496" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
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+      <origin xyz="0.04052647 -8.640000000000037e-05 -0.023870999999999976" rpy="0 0 1.5707963267948966"/>
+      <mass value="1.54182"/>
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-        <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_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="r_ankle_2_color">
+        <color rgba="0.3 0.3 0.3 1"/>
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+      <origin xyz="0.031650000000000005 0.07440000000000001 0.8856000000000002" rpy="0 0 1.5707963267948966"/>
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-        <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_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <parent link="r_shoulder_3"/>
-    <child link="r_upperarm"/>
-    <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="r_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 0.018199999999999994 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="r_ankle_1"/>
+    <child link="r_ankle_2"/>
+    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_forearm">
+  <link name="r_foot_rear">
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+      <origin xyz="0.0005878999999999988 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
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+      <origin xyz="0.015599999999999463 0.07440000000000031 0.9558" rpy="0 0 1.5707963267948966"/>
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-        <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_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_forearm_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="r_foot_rear_color">
+        <color rgba="1 0.51 0.0 1"/>
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+      <origin xyz="0.015599999999999463 0.07440000000000031 0.9558" rpy="0 0 1.5707963267948966"/>
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-        <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_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="r_elbow" type="revolute">
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-    <parent link="r_upperarm"/>
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-    <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="r_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016000000000000004 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_rear"/>
+    <dynamics damping="0.1"/>
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-  <link name="r_wrist_1">
+  <link name="r_sole"/>
+  <joint name="r_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
+    <parent link="r_foot_rear"/>
+    <child link="r_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_foot_front">
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-        <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_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_wrist_1_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="r_foot_front_color">
+        <color rgba="1 0.51 0.0 1"/>
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+      <origin xyz="-0.10360000000000001 0.07440000000000001 0.9558000000000001" rpy="0 0 1.5707963267948966"/>
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-        <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_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
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-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="r_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13525 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_front"/>
+    <dynamics damping="0.1"/>
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-  <link name="r_wrist_2">
+  <link name="l_hip_1">
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-        <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_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="l_hip_1_color">
+        <color rgba="0.7 0.7 0.7 1"/>
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+      <origin xyz="-0.021099999999999997 -0.0505 0.1785" rpy="0 0 1.5707963267948966"/>
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-        <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_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="r_wrist_2"/>
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+  <joint name="l_hip_pitch" type="revolute">
+    <origin xyz="0.0211 0.0505 0" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <parent link="root_link"/>
+    <child link="l_hip_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="r_hand_palm">
+  <link name="l_hip_2">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="l_hip_2_color">
+        <color rgba="0.7 0.7 0.7 1"/>
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-        <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_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="l_hip_roll" type="revolute">
+    <origin xyz="-0.04725 0.03309999999999999 -0.009000000000000008" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_hip_1"/>
+    <child link="l_hip_2"/>
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+    <dynamics damping="2.0" friction="0.0"/>
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-  <link name="r_hand_thumb_1">
+  <link name="l_hip_3">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="blue">
-        <color rgba="0 0 1 1"/>
+      <material name="l_hip_3_color">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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-    <parent link="r_hand_palm"/>
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-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="l_leg_ft_sensor" type="fixed">
+    <origin xyz="0.036699999999999997 0 -0.0897" rpy="0 0 0"/>
+    <parent link="l_hip_2"/>
+    <child link="l_hip_3"/>
+    <dynamics damping="0.1"/>
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-  <link name="r_hand_thumb_2">
+  <link name="l_upper_leg">
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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_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="yellow">
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+      <material name="l_upper_leg_color">
+        <color rgba="0.7 0.7 0.7 1"/>
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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_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="r_hand_thumb_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_hip_yaw" type="revolute">
+    <origin xyz="0 -0.015 -0.07269999999999999" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <parent link="l_hip_3"/>
+    <child link="l_upper_leg"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_thumb_3">
+  <link name="l_lower_leg">
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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_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="pink">
-        <color rgba="1 0 1 1"/>
+      <material name="l_lower_leg_color">
+        <color rgba="0.3 0.3 0.3 1"/>
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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_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="r_hand_thumb_3"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_knee" type="revolute">
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+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="l_upper_leg"/>
+    <child link="l_lower_leg"/>
+    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="r_hand_thumb_skin_0"/>
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_1"/>
-  <joint name="r_hand_thumb_skin_1_fixed_joint" type="fixed">
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_2"/>
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_3"/>
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-  <link name="r_hand_thumb_skin_4"/>
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_5"/>
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_6"/>
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_7"/>
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-  <link name="r_hand_thumb_skin_8"/>
-  <joint name="r_hand_thumb_skin_8_fixed_joint" type="fixed">
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_9"/>
-  <joint name="r_hand_thumb_skin_9_fixed_joint" type="fixed">
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-    <parent link="r_hand_thumb_3"/>
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-  <link name="r_hand_thumb_skin_10"/>
-  <joint name="r_hand_thumb_skin_10_fixed_joint" type="fixed">
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-  <link name="r_hand_thumb_skin_11"/>
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-    <parent link="r_hand_thumb_3"/>
-    <child link="r_hand_thumb_skin_11"/>
-    <dynamics damping="0.1"/>
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-  <link name="r_hand_index_1">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="cyan">
-        <color rgba="0 1 1 1"/>
+      <material name="l_ankle_1_color">
+        <color rgba="0.7 0.7 0.7 1"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="r_hand_index_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_ankle_pitch" type="revolute">
+    <origin xyz="0 -0.0319 0.32099999999999995" rpy="3.141592653589793 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="l_lower_leg"/>
+    <child link="l_ankle_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="r_hand_index_2">
+  <link name="l_ankle_2">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="green">
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+      <material name="l_ankle_2_color">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="r_hand_index_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="l_ankle_roll" type="revolute">
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+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_ankle_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="r_hand_index_3">
+  <link name="l_foot_front">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="white">
-        <color rgba="1 1 1 1"/>
+      <material name="l_foot_front_color">
+        <color rgba="1 0.51 0.0 1"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
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-    <parent link="r_hand_index_2"/>
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-    <dynamics damping="2.0" friction="0.0"/>
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-  <link name="r_hand_index_skin_0"/>
-  <joint name="r_hand_index_skin_0_fixed_joint" type="fixed">
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-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_0"/>
+  <joint name="l_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13525 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_front"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_index_skin_1"/>
-  <joint name="r_hand_index_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.0033010071874996078 -0.0031310503039992388 -0.023280686406158713" rpy="-1.004508784930116e-06 1.2201097511639787 -1.5707973956436345"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_2"/>
-  <joint name="r_hand_index_skin_2_fixed_joint" type="fixed">
-    <origin xyz="9.879565030304627e-07 -0.0037585228231166723 -0.025192849922389793" rpy="-2.0192589424348972e-07 1.3057399175861366 -1.5707961736993847"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_3"/>
-  <joint name="r_hand_index_skin_3_fixed_joint" type="fixed">
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-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_4"/>
-  <joint name="r_hand_index_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.005930100741661566 -0.001192495473541999 -0.027999567974155037" rpy="3.1415912221673423 1.2994438865660232 2.777154326754342"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_5"/>
-  <joint name="r_hand_index_skin_5_fixed_joint" type="fixed">
-    <origin xyz="8.852545381743404e-07 -0.003476743370653318 -0.02983516522077506" rpy="-3.1415916993735475 1.0862258770767357 1.5707970353407095"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_6"/>
-  <joint name="r_hand_index_skin_6_fixed_joint" type="fixed">
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-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_6"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_7"/>
-  <joint name="r_hand_index_skin_7_fixed_joint" type="fixed">
-    <origin xyz="9.888131538779432e-07 -0.00027231359238352737 -0.03327170938394436" rpy="-3.1415924489774776 0.6184188472429561 1.5713175931002388"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_7"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_8"/>
-  <joint name="r_hand_index_skin_8_fixed_joint" type="fixed">
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-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_8"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_9"/>
-  <joint name="r_hand_index_skin_9_fixed_joint" type="fixed">
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-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_9"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_10"/>
-  <joint name="r_hand_index_skin_10_fixed_joint" type="fixed">
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-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_10"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_index_skin_11"/>
-  <joint name="r_hand_index_skin_11_fixed_joint" type="fixed">
-    <origin xyz="-0.0032993688605145108 -0.0031312039972113404 -0.023280720750228412" rpy="-1.004508784930116e-06 1.2201097511639787 -1.5707973956436345"/>
-    <parent link="r_hand_index_3"/>
-    <child link="r_hand_index_skin_11"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_1">
+  <link name="l_foot_rear">
     <inertial>
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+      <origin xyz="0.0005878999999999988 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
+      <mass value="0.221105"/>
+      <inertia ixx="0.000260872" ixy="0.0" ixz="-5.72999e-09" iyy="0.000191206" iyz="3.29086e-09" izz="0.000450088"/>
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+      <origin xyz="0.015599999999999909 -0.07440000000000056 0.9558000000000011" rpy="0 0 1.5707963267948966"/>
       <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_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="dblue">
-        <color rgba="0 0 0.8 1"/>
+      <material name="l_foot_rear_color">
+        <color rgba="1 0.51 0.0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.016151209552035674 -0.19866593918881142 0.32980294282379513" rpy="0.12008501986317731 -0.2297882840735942 -1.8533146530335884"/>
+      <origin xyz="0.015599999999999909 -0.07440000000000056 0.9558000000000011" rpy="0 0 1.5707963267948966"/>
       <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_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
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-  <joint name="r_middle_prox" type="revolute">
-    <origin xyz="0.009600156192095595 0.0015008642793521432 -0.10299988189076881" rpy="0 -5.650294234014884e-07 -3.141592467955196"/>
-    <axis xyz="-0.9999998262416893 3.56920377206707e-07 2.721582535170075e-07"/>
-    <parent link="r_hand_palm"/>
-    <child link="r_hand_middle_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <joint name="l_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016000000000000004 0 -0.07019999999999993" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_rear"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_middle_2">
+  <link name="l_sole"/>
+  <joint name="l_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
+    <parent link="l_foot_rear"/>
+    <child link="l_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="torso_1">
     <inertial>
-      <origin xyz="5.143109505644991e-05 0.0015994843505621748 -0.0035910973065023666" rpy="0.11954926259843997 -0.22799029281164018 -1.8531928341958708"/>
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-      <inertia ixx="3.20008e-06" ixy="-1.25412e-07" ixz="-8.73252e-07" iyy="3.41534e-06" iyz="-4.04969e-07" izz="6.05895e-07"/>
+      <origin xyz="-0.00963997 0.0006168500000000001 0.08244230000000001" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.01685"/>
+      <inertia ixx="0.00709474" ixy="6.97521e-06" ixz="-1.25869e-05" iyy="0.00581692" iyz="0.000722773" izz="0.00295365"/>
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     <visual>
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+      <origin xyz="0 0 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
       <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_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="dgreen">
-        <color rgba="0.1 0.8 0.1 1"/>
+      <material name="torso_1_color">
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.016151302128169516 -0.19783968727776596 0.35943338575842404" rpy="0.11954926259843997 -0.22799029281164018 -1.8531928341958708"/>
+      <origin xyz="0 0 0.11800000000000006" rpy="0 0 1.5707963267948966"/>
       <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_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_middle_dist" type="revolute">
-    <origin xyz="1.3550151000546462e-07 -0.0014995238274964628 -0.03000020325318492" rpy="-0.0018721728628663644 0 -2.576685250299645e-07"/>
-    <axis xyz="-0.9999998262417538 9.878318872787173e-08 2.5044776373606137e-07"/>
-    <parent link="r_hand_middle_1"/>
-    <child link="r_hand_middle_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="torso_roll" type="revolute">
+    <origin xyz="0 0 0.060499999999999984" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="root_link"/>
+    <child link="torso_1"/>
+    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_middle_skin_0"/>
-  <joint name="r_hand_middle_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0 -0.002434163388032401 -0.02140626784029226" rpy="-2.888002141897799e-07 1.2224888157071614 -1.5707967443194422"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_0"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_1"/>
-  <joint name="r_hand_middle_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.0032999302761449988 -0.003131534419503562 -0.023280711530192733" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_2"/>
-  <joint name="r_hand_middle_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0037584600637466103 -0.02519316791187759" rpy="-2.6780538415934596e-06 1.305739726207208 -1.5707987725046209"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_3"/>
-  <joint name="r_hand_middle_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.0032999688028366864 -0.004081937549531761 -0.027767599906222185" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_4"/>
-  <joint name="r_hand_middle_skin_4_fixed_joint" type="fixed">
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-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_5"/>
-  <joint name="r_hand_middle_skin_5_fixed_joint" type="fixed">
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-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_6"/>
-  <joint name="r_hand_middle_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.0032999946700499015 -0.0018244087955724964 -0.0317716170907979" rpy="3.141592114011197 0.778535719104729 2.532385576753663"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_6"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_7"/>
-  <joint name="r_hand_middle_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0002725978091494552 -0.033271502713935364" rpy="-3.1415924148088807 0.618418747537505 1.5713170250376087"/>
-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_7"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_8"/>
-  <joint name="r_hand_middle_skin_8_fixed_joint" type="fixed">
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-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_8"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_9"/>
-  <joint name="r_hand_middle_skin_9_fixed_joint" type="fixed">
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-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_9"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_middle_skin_10"/>
-  <joint name="r_hand_middle_skin_10_fixed_joint" type="fixed">
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-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_10"/>
-    <dynamics damping="0.1"/>
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-  <link name="r_hand_middle_skin_11"/>
-  <joint name="r_hand_middle_skin_11_fixed_joint" type="fixed">
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-    <parent link="r_hand_middle_2"/>
-    <child link="r_hand_middle_skin_11"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_pinkie_1">
+  <link name="torso_2">
     <inertial>
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+      <origin xyz="0 0 0" rpy="0 0 1.5707963267948966"/>
       <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_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="gray">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="torso_2_color">
+        <color rgba="0.7 0.7 0.7 1"/>
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     </visual>
     <collision>
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+      <origin xyz="0 0 0" rpy="0 0 1.5707963267948966"/>
       <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_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_pinkie_prox" type="revolute">
-    <origin xyz="-0.03598229511630489 0.0023886829394013653 -0.09208533059471607" rpy="0 -0.08726707208822813 3.1154130190543565"/>
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-    <parent link="r_hand_palm"/>
-    <child link="r_hand_pinkie_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="torso_pitch" type="revolute">
+    <origin xyz="0 0 0.11800000000000005" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="torso_1"/>
+    <child link="torso_2"/>
+    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_pinkie_2">
+  <link name="chest">
     <inertial>
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       <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_chest_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="chest_color">
+        <color rgba="0.3 0.3 0.3 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.028527291616398644 -0.19782654821837128 0.34760258035440544" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="0 0 -0.06446999999999996" rpy="0 0 1.5707963267948966"/>
       <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_chest_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_pinkie_dist" type="revolute">
-    <origin xyz="0 -0.0014997508602253018 -0.025000232410908096" rpy="0 0 0"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_pinkie_1"/>
-    <child link="r_hand_pinkie_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="torso_yaw" type="revolute">
+    <origin xyz="0 0 0.06446999999999996" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="torso_2"/>
+    <child link="chest"/>
+    <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_1">
+  <link name="neck_2">
     <inertial>
-      <origin xyz="0.0001425535059396731 0.0036420567912524016 -0.014331791473058686" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
-      <mass value="0.00345703"/>
-      <inertia ixx="4.42024e-07" ixy="-1.91202e-09" ixz="-5.67574e-08" iyy="4.46923e-07" iyz="-1.09909e-08" izz="1.93456e-07"/>
+      <origin xyz="-0.006305769999994505 3.01413002619598e-05 0.0063730000000000175" rpy="0 0 1.570796326794898"/>
+      <mass value="0.121003"/>
+      <inertia ixx="3.84895e-05" ixy="9.37575e-08" ixz="4.86994e-08" iyy="4.53912e-05" iyz="-8.62267e-06" izz="3.75355e-05"/>
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     <visual>
-      <origin xyz="-0.007527237008806751 -0.1993263860452736 0.326602384893858" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.004861510000001958 -5.0000000001387415e-05 -0.2897700000000001" rpy="0 0 1.570796326794898"/>
       <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_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="neck_2_color">
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.007527237008806751 -0.1993263860452736 0.326602384893858" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.004861510000001958 -5.0000000001387415e-05 -0.2897700000000001" rpy="0 0 1.570796326794898"/>
       <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_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ring_prox" type="revolute">
-    <origin xyz="-0.01541792137789915 0.0018501048853160618 -0.09790042637955282" rpy="0 -0.08726707208822813 3.1154130190543565"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_palm"/>
-    <child link="r_hand_ring_1"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="neck_pitch" type="revolute">
+    <origin xyz="0.00486151 0 0.22529999999999997" rpy="0 0 0"/>
+    <axis xyz="4.1292621846134423e-16 -1.0 0.0"/>
+    <parent link="chest"/>
+    <child link="neck_2"/>
+    <limit effort="50000" lower="-0.5235987755982988" upper="0.3839724354387525" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_2">
+  <link name="neck_3">
     <inertial>
-      <origin xyz="5.12901968831303e-05 0.001669633724482783 -0.003593808335425386" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
-      <mass value="0.0091955"/>
-      <inertia ixx="3.15753e-06" ixy="-5.0923e-08" ixz="-9.41261e-07" iyy="3.4723e-06" iyz="-1.45057e-07" izz="6.05547e-07"/>
+      <origin xyz="0.0007590499999925388 -4.09169010262998e-05 0.03603500000000004" rpy="0 0 1.5707963267948974"/>
+      <mass value="0.178114"/>
+      <inertia ixx="0.000107598" ixy="-1.76295e-07" ixz="-2.50398e-07" iyy="9.70547e-05" iyz="-6.13074e-06" izz="3.62642e-05"/>
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     <visual>
-      <origin xyz="-0.007527194888446732 -0.19782646544374516 0.3566029490051788" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.0048615100000017055 0 -0.2992700000000001" rpy="0 0 1.5707963267948974"/>
       <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_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="neck_3_color">
+        <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.007527194888446732 -0.19782646544374516 0.3566029490051788" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <origin xyz="-0.0048615100000017055 0 -0.2992700000000001" rpy="0 0 1.5707963267948974"/>
       <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_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ring_dist" type="revolute">
-    <origin xyz="0 -0.0014999206015293143 -0.03000056411131863" rpy="0 0 0"/>
-    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="r_hand_ring_1"/>
-    <child link="r_hand_ring_2"/>
-    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+  <joint name="neck_roll" type="revolute">
+    <origin xyz="0 0 0.009500000000000008" rpy="0 0 0"/>
+    <axis xyz="1.0 -1.141386016013875e-15 0.0"/>
+    <parent link="neck_2"/>
+    <child link="neck_3"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_skin_0"/>
-  <joint name="r_hand_ring_skin_0_fixed_joint" type="fixed">
-    <origin xyz="6.369438959753088e-07 -0.0024437159778973594 -0.02140551448514305" rpy="-1.8198440874177978e-06 1.222171074662119 -1.570798078779304"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_0"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_1"/>
-  <joint name="r_hand_ring_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.003300577895109416 -0.00314198277569927 -0.023279866908672897" rpy="-8.828925104148836e-07 1.2197920927650072 -1.5707973488537736"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_1"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_2"/>
-  <joint name="r_hand_ring_skin_2_fixed_joint" type="fixed">
-    <origin xyz="6.542383091199394e-07 -0.0037691217541475086 -0.02519099159351179" rpy="-2.1979342417368875e-06 1.3054216764415913 -1.5707985350956188"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_2"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_3"/>
-  <joint name="r_hand_ring_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.003300545141335001 -0.004093663560879535 -0.027765768308842698" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_3"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_4"/>
-  <joint name="r_hand_ring_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0059301207467280705 -0.001204276676426641 -0.027999177771960315" rpy="-3.1404875010050004 1.2995572108592925 2.778219856114847"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_4"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_5"/>
-  <joint name="r_hand_ring_skin_5_fixed_joint" type="fixed">
-    <origin xyz="5.308718775496463e-07 -0.0034891781806687394 -0.029833705591858994" rpy="-3.141591609794059 1.0865431510862156 1.5707972515436073"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_5"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_hand_ring_skin_6"/>
-  <joint name="r_hand_ring_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.00330056984961531 -0.0018374330365136249 -0.031770474544050076" rpy="-3.1412265136676125 0.7787173410213876 2.5326427664034585"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_6"/>
-    <dynamics damping="0.1"/>
+  <link name="head">
+    <inertial>
+      <origin xyz="-0.02038851 0.004002100000000001 0.034331999999999974" rpy="0 0 1.5707963267948966"/>
+      <mass value="2.31933"/>
+      <inertia ixx="0.0122181" ixy="-0.000306508" ixz="0.000152454" iyy="0.0105129" iyz="0.000206793" izz="0.0102492"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.00486150999999975 0 -0.36842000000000047" rpy="0 0 1.5707963267948966"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="head_color">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.00486150999999975 0 -0.36842000000000047" rpy="0 0 1.5707963267948966"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_head_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="neck_yaw" type="revolute">
+    <origin xyz="0 0 0.06915000000000004" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <parent link="neck_3"/>
+    <child link="head"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_skin_7"/>
-  <joint name="r_hand_ring_skin_7_fixed_joint" type="fixed">
-    <origin xyz="6.201472224371535e-07 -0.00028604387995345704 -0.033271223785790505" rpy="-3.1415918554197564 0.6187360445083335 1.5713172257908574"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_7"/>
+  <link name="head_laser_frame"/>
+  <joint name="head_laser_frame_fixed_joint" type="fixed">
+    <origin xyz="4.99999999999997e-05 0 0.13480199999999992" rpy="0 0 1.5707963267948966"/>
+    <parent link="head"/>
+    <child link="head_laser_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_ring_skin_8"/>
-  <joint name="r_hand_ring_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0032993851081752224 -0.0018375074923376866 -0.03177136313433143" rpy="3.1412269734474307 0.7787178284081474 0.608949710350258"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_8"/>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="-0.004299998 -0.0055 0.03823499999999996" rpy="3.141592653589793 0 1.5707963267948966"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_ring_skin_9"/>
-  <joint name="r_hand_ring_skin_9_fixed_joint" type="fixed">
-    <origin xyz="-0.0059288844459949135 -0.0012040132702312856 -0.027998753995689574" rpy="3.140488583833023 1.2995578078276662 0.3633736430221612"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_9"/>
-    <dynamics damping="0.1"/>
+  <link name="realsense">
+    <inertial>
+      <origin xyz="-0.015665513063136835 0.004519999999999997 0.0027449336073371855" rpy="-0.00025958199854238625 0 1.5707963267948972"/>
+      <mass value="0.0973042"/>
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+    </inertial>
+    <visual>
+      <origin xyz="-0.06725603228393816 3.0000000000165657e-05 -0.4448304734420435" rpy="-0.00025958199854238625 0 1.5707963267948972"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.06725603228393816 3.0000000000165657e-05 -0.4448304734420435" rpy="-0.00025958199854238625 0 1.5707963267948972"/>
+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_realsense_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_tilt" type="revolute">
+    <origin xyz="0.06250999 -3e-05 0.07639299999999999" rpy="0 0.0002595819985423862 0"/>
+    <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <parent link="head"/>
+    <child link="realsense"/>
+    <limit effort="50000" lower="-0.5235987755982988" upper="0.5235987755982988" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hand_ring_skin_10"/>
-  <joint name="r_hand_ring_skin_10_fixed_joint" type="fixed">
-    <origin xyz="-0.0032993838888264685 -0.0040934889011343956 -0.027765688772483865" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_10"/>
+  <link name="realsense_rgb_frame"/>
+  <joint name="realsense_rgb_frame_fixed_joint" type="fixed">
+    <origin xyz="0.00751550026595621 -0.0115 0" rpy="-1.5707962931078618 0 -1.5707963267948968"/>
+    <parent link="realsense"/>
+    <child link="realsense_rgb_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hand_ring_skin_11"/>
-  <joint name="r_hand_ring_skin_11_fixed_joint" type="fixed">
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-    <parent link="r_hand_ring_2"/>
-    <child link="r_hand_ring_skin_11"/>
+  <link name="realsense_depth_frame"/>
+  <joint name="realsense_depth_frame_fixed_joint" type="fixed">
+    <origin xyz="0.00751550026595621 0.010000000000000005 0" rpy="-1.5707962931078618 0 -1.5707963267948968"/>
+    <parent link="realsense"/>
+    <child link="realsense_depth_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_shoulder_1">
+  <link name="r_shoulder_1">
     <inertial>
-      <origin xyz="8.813465633825818e-05 0.09554178705277518 0.0004984818421107096" rpy="-0.054063667179708695 0.2748965159766948 1.8097197019610352"/>
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+      <origin xyz="0.00017239755152553132 -0.06784047233647011 0.0004755723487094854" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
+      <mass value="0.792282"/>
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     <visual>
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+      <origin xyz="0.021414945972355947 0.10641310711982899 -0.16803579004948574" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
       <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_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_shoulder_1_color">
+      <material name="r_shoulder_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.050280138935658414 -0.07875979528419856 -0.1617502817861287" rpy="-0.054063667179708695 0.2748965159766948 1.8097197019610352"/>
+      <origin xyz="0.021414945972355947 0.10641310711982899 -0.16803579004948574" rpy="0.12008559189031787 -0.2297881760318691 1.288278055899408"/>
       <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_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_shoulder_pitch" type="revolute">
-    <origin xyz="-0.0204593 0.041145 0.11657900000000002" rpy="0.25504097964037203 0.11691445967672928 -0.23139612148175434"/>
-    <axis xyz="4.453300185801312e-07 0.9999999783533606 2.834495320125363e-07"/>
+  <joint name="r_shoulder_pitch" type="revolute">
+    <origin xyz="-0.013518700012225604 -0.06704759999753497 0.12352000000000002" rpy="-0.2536122932682645 -0.05203182377908277 0.27527867980625303"/>
+    <axis xyz="-3.352246002574083e-07 0.9999999783534191 -2.2068612626213735e-07"/>
     <parent link="chest"/>
-    <child link="l_shoulder_1"/>
+    <child link="r_shoulder_1"/>
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-    <parent link="l_hand_thumb_1"/>
-    <child link="l_hand_thumb_2"/>
+  <joint name="r_thumb_prox" type="revolute">
+    <origin xyz="0.0345419043814173 -0.0031447987794122334 -0.026071809138455138" rpy="1.7929080217310676 0.6514101167838809 -1.1138050653581883e-07"/>
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+    <parent link="r_hand_thumb_1"/>
+    <child link="r_hand_thumb_2"/>
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     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_thumb_3">
+  <link name="r_hand_thumb_3">
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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"/>
       </geometry>
-      <material name="gray">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
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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"/>
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-    <parent link="l_hand_thumb_2"/>
-    <child link="l_hand_thumb_3"/>
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+    <origin xyz="0.019999518753341633 -0.0014995177497797996 -3.909354686637556e-07" rpy="0 0 0"/>
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+    <parent link="r_hand_thumb_2"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_0"/>
+  <link name="r_hand_thumb_skin_0"/>
+  <joint name="r_hand_thumb_skin_0_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_0"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_1"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_1"/>
+  <link name="r_hand_thumb_skin_1"/>
+  <joint name="r_hand_thumb_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.022181514608171235 -0.0031315753693715864 0.0033003779167594116" rpy="1.5707959518025376 -2.240241662176975e-07 -0.35068660322761297"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_1"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_2"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_2"/>
+  <link name="r_hand_thumb_skin_2"/>
+  <joint name="r_hand_thumb_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.024092766105114335 -0.003758664710135945 0" rpy="1.5707964275257265 -1.835551116380351e-07 -0.2650566454956479"/>
+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_2"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_thumb_skin_3"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_3"/>
+  <link name="r_hand_thumb_skin_3"/>
+  <joint name="r_hand_thumb_skin_3_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_3"/>
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-  <link name="l_hand_thumb_skin_4"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_4"/>
+  <link name="r_hand_thumb_skin_4"/>
+  <joint name="r_hand_thumb_skin_4_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_4"/>
     <dynamics damping="0.1"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_5"/>
+  <link name="r_hand_thumb_skin_5"/>
+  <joint name="r_hand_thumb_skin_5_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
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     <dynamics damping="0.1"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_6"/>
+  <link name="r_hand_thumb_skin_6"/>
+  <joint name="r_hand_thumb_skin_6_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_7"/>
+  <link name="r_hand_thumb_skin_7"/>
+  <joint name="r_hand_thumb_skin_7_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_8"/>
+  <link name="r_hand_thumb_skin_8"/>
+  <joint name="r_hand_thumb_skin_8_fixed_joint" type="fixed">
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-  <link name="l_hand_thumb_skin_9"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_9"/>
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+  <joint name="r_hand_thumb_skin_9_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_10"/>
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+  <joint name="r_hand_thumb_skin_10_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
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-    <parent link="l_hand_thumb_3"/>
-    <child link="l_hand_thumb_skin_11"/>
+  <link name="r_hand_thumb_skin_11"/>
+  <joint name="r_hand_thumb_skin_11_fixed_joint" type="fixed">
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+    <parent link="r_hand_thumb_3"/>
+    <child link="r_hand_thumb_skin_11"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_pinkie_1">
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-    <parent link="l_hand_palm"/>
-    <child link="l_hand_pinkie_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hand_pinkie_2">
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+      <material name="dgreen">
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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"/>
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-    <parent link="l_hand_pinkie_1"/>
-    <child link="l_hand_pinkie_2"/>
+  <joint name="r_middle_dist" type="revolute">
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+    <axis xyz="-0.9999998262417538 9.878318872787173e-08 2.5044776373606137e-07"/>
+    <parent link="r_hand_middle_1"/>
+    <child link="r_hand_middle_2"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_ring_1">
+  <link name="r_hand_middle_skin_0"/>
+  <joint name="r_hand_middle_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0024341633880323454 -0.02140626784029226" rpy="-2.888002141897799e-07 1.2224888157071614 -1.5707967443194422"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_1"/>
+  <joint name="r_hand_middle_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.0032999302761450126 -0.0031315344195035066 -0.023280711530192733" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_2"/>
+  <joint name="r_hand_middle_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0037584600637464993 -0.025193167911877645" rpy="-2.6780538415934596e-06 1.305739726207208 -1.5707987725046209"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_3"/>
+  <joint name="r_hand_middle_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0032999688028366864 -0.004081937549531761 -0.027767599906222185" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_4"/>
+  <joint name="r_hand_middle_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929566529031996 -0.0011920519924579764 -0.028000347463470243" rpy="3.141592260042173 1.2994442393401489 2.777155482919476"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_5"/>
+  <joint name="r_hand_middle_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034765832806818997 -0.02983570347842418" rpy="-3.1415923106025314 1.086225709334958 1.570796364632236"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_6"/>
+  <joint name="r_hand_middle_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0032999946700499154 -0.0018244087955724964 -0.0317716170907979" rpy="3.141592114011197 0.778535719104729 2.532385576753663"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_7"/>
+  <joint name="r_hand_middle_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0002725978091493997 -0.033271502713935364" rpy="-3.1415924148088807 0.618418747537505 1.5713170250376087"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_8"/>
+  <joint name="r_hand_middle_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0033001032954547184 -0.0018248945553451246 -0.031771757727755756" rpy="3.1415924841511433 0.7785357399039171 0.6092069609627565"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_9"/>
+  <joint name="r_hand_middle_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929732632988013 -0.001192832553830403 -0.027999915681298115" rpy="-3.1415923364133644 1.2994449456881931 0.36443740406990854"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_10"/>
+  <joint name="r_hand_middle_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.003300181170510192 -0.004082174556855278 -0.027766773373389564" rpy="-3.1415858006046733 1.5047760963753847 1.5708033199852864"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_middle_skin_11"/>
+  <joint name="r_hand_middle_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999923469937895 -0.0031310595632358384 -0.023281089805274435" rpy="-1.4298532745530854e-06 1.2201100060845362 -1.5707976149443068"/>
+    <parent link="r_hand_middle_2"/>
+    <child link="r_hand_middle_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_hand_ring_1">
     <inertial>
-      <origin xyz="0.00014280339169174278 0.0036426704125520626 -0.014331537616628587" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="0.0001425535059396731 0.003642056791252346 -0.014331791473058741" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <mass value="0.00345703"/>
-      <inertia ixx="4.40041e-07" ixy="-2.00998e-09" ixz="5.85772e-08" iyy="4.4829e-07" iyz="-2.27607e-09" izz="1.93821e-07"/>
+      <inertia ixx="4.42024e-07" ixy="-1.91202e-09" ixz="-5.67574e-08" iyy="4.46923e-07" iyz="-1.09909e-08" izz="1.93456e-07"/>
     </inertial>
     <visual>
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+      <origin xyz="-0.0075272370088071685 -0.1993263860452732 0.32660238489385823" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0075498455057530925 -0.19942057587455303 0.326627227033986" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.0075272370088071685 -0.1993263860452732 0.32660238489385823" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_ring_prox" type="revolute">
-    <origin xyz="-0.015417865717831492 -0.0018501027039076468 -0.09790043518642758" rpy="0 0.08726650590388031 0.026179823381597748"/>
-    <axis xyz="1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
-    <parent link="l_hand_palm"/>
-    <child link="l_hand_ring_1"/>
+  <joint name="r_ring_prox" type="revolute">
+    <origin xyz="-0.01541792137789915 0.0018501048853160618 -0.09790042637955282" rpy="0 -0.08726707208822813 3.1154130190543565"/>
+    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
+    <parent link="r_hand_palm"/>
+    <child link="r_hand_ring_1"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_ring_2">
+  <link name="r_hand_ring_2">
     <inertial>
-      <origin xyz="5.158639613809905e-05 0.001599622377635862 -0.0035905977403072886" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
-      <mass value="0.00912524"/>
-      <inertia ixx="3.15499e-06" ixy="4.76252e-08" ixz="9.4436e-07" iyy="3.46575e-06" iyz="-1.39679e-07" izz="5.99879e-07"/>
+      <origin xyz="5.1290196883116423e-05 0.001669633724482783 -0.0035938083354254413" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
+      <mass value="0.0091955"/>
+      <inertia ixx="3.15753e-06" ixy="-5.0923e-08" ixz="-9.41261e-07" iyy="3.4723e-06" iyz="-1.45057e-07" izz="6.05547e-07"/>
     </inertial>
     <visual>
-      <origin xyz="0.007549803385393976 -0.19792065527302388 0.3566277911453055" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.007527194888446845 -0.19782646544374372 0.35660294900517864" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0 0 1 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.007549803385393976 -0.19792065527302388 0.3566277911453055" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <origin xyz="-0.007527194888446845 -0.19782646544374372 0.35660294900517864" rpy="0.03293841693450851 -0.2510502277214382 -1.8063707999903837"/>
       <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_r_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_ring_dist" type="revolute">
-    <origin xyz="0 -0.0014999206015294253 -0.03000056411131863" rpy="0 0 0"/>
-    <axis xyz="-1.0000005135466863 -1.979209419246744e-07 -4.060128685548503e-07"/>
-    <parent link="l_hand_ring_1"/>
-    <child link="l_hand_ring_2"/>
+  <joint name="r_ring_dist" type="revolute">
+    <origin xyz="0 -0.0014999206015293143 -0.03000056411131863" rpy="0 0 0"/>
+    <axis xyz="-1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
+    <parent link="r_hand_ring_1"/>
+    <child link="r_hand_ring_2"/>
     <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_ring_skin_0"/>
-  <joint name="l_hand_ring_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0 -0.002434109766516257 -0.021405903344744404" rpy="3.19241308601029e-07 1.2224879756285634 -1.5707957505342052"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_0"/>
+  <link name="r_hand_ring_skin_0"/>
+  <joint name="r_hand_ring_skin_0_fixed_joint" type="fixed">
+    <origin xyz="6.369438959753088e-07 -0.0024437159778973594 -0.021405514485143107" rpy="-1.8198440874177978e-06 1.222171074662119 -1.570798078779304"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_1"/>
-  <joint name="l_hand_ring_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.003299959717504214 -0.003131214942308308 -0.02328043103333599" rpy="7.841409816247398e-07 1.220109279873348 -1.5707953766916674"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_1"/>
+  <link name="r_hand_ring_skin_1"/>
+  <joint name="r_hand_ring_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.003300577895109416 -0.0031419827756992147 -0.023279866908672953" rpy="-8.828925104148836e-07 1.2197920927650072 -1.5707973488537736"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_2"/>
-  <joint name="l_hand_ring_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0 -0.0037587551640848593 -0.02519260657118344" rpy="2.109983659924688e-06 1.3057391422971405 -1.57079420774816"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_2"/>
+  <link name="r_hand_ring_skin_2"/>
+  <joint name="r_hand_ring_skin_2_fixed_joint" type="fixed">
+    <origin xyz="6.542383091199394e-07 -0.003769121754147453 -0.02519099159351179" rpy="-2.1979342417368875e-06 1.3054216764415913 -1.5707985350956188"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_3"/>
-  <joint name="l_hand_ring_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.00329996113880285 -0.004081908765223852 -0.02776658723492642" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_3"/>
+  <link name="r_hand_ring_skin_3"/>
+  <joint name="r_hand_ring_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0033005451413349873 -0.00409366356087959 -0.027765768308842753" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_4"/>
-  <joint name="l_hand_ring_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.005929559072218123 -0.0011924106023347703 -0.02799965564814172" rpy="3.1415923272373556 1.299444799530583 2.7771553646234826"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_4"/>
+  <link name="r_hand_ring_skin_4"/>
+  <joint name="r_hand_ring_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005930120746728084 -0.0012042766764265855 -0.02799917777196037" rpy="-3.1404875010050004 1.2995572108592925 2.778219856114847"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_4"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_5"/>
-  <joint name="l_hand_ring_skin_5_fixed_joint" type="fixed">
-    <origin xyz="0 -0.003476611082493558 -0.02983485885572207" rpy="3.141592267163769 1.086225807890324 1.570796144313782"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_5"/>
+  <link name="r_hand_ring_skin_5"/>
+  <joint name="r_hand_ring_skin_5_fixed_joint" type="fixed">
+    <origin xyz="5.308718775357685e-07 -0.0034891781806687394 -0.02983370559185905" rpy="-3.141591609794059 1.0865431510862156 1.5707972515436073"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_5"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_6"/>
-  <joint name="l_hand_ring_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.0033000024742935834 -0.0018246687466072498 -0.03177155146156402" rpy="3.1415925874639985 0.7785363357981874 2.5323859043537085"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_6"/>
+  <link name="r_hand_ring_skin_6"/>
+  <joint name="r_hand_ring_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0033005698496152962 -0.0018374330365136249 -0.03177047454405013" rpy="-3.1412265136676125 0.7787173410213876 2.5326427664034585"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_6"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_7"/>
-  <joint name="l_hand_ring_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0 -0.00027318260223696544 -0.03327141530303279" rpy="3.141592083365392 0.6184190542087526 1.5713170178340956"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_7"/>
+  <link name="r_hand_ring_skin_7"/>
+  <joint name="r_hand_ring_skin_7_fixed_joint" type="fixed">
+    <origin xyz="6.201472224371535e-07 -0.0002860438799534015 -0.03327122378579056" rpy="-3.1415918554197564 0.6187360445083335 1.5713172257908574"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_8"/>
-  <joint name="l_hand_ring_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.00329992655586789 -0.001824843406352361 -0.03177163099792274" rpy="-3.141592630967883 0.7785355069422046 0.6092077934143093"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_8"/>
+  <link name="r_hand_ring_skin_8"/>
+  <joint name="r_hand_ring_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0032993851081752224 -0.0018375074923376311 -0.03177136313433143" rpy="3.1412269734474307 0.7787178284081474 0.608949710350258"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_8"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_9"/>
-  <joint name="l_hand_ring_skin_9_fixed_joint" type="fixed">
-    <origin xyz="-0.00592944612050488 -0.0011926740085301812 -0.02800007942441246" rpy="-3.1415921627311505 1.2994436529688218 0.36443765521426325"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_9"/>
+  <link name="r_hand_ring_skin_9"/>
+  <joint name="r_hand_ring_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.0059288844459949135 -0.00120401327023123 -0.02799875399568963" rpy="3.140488583833023 1.2995578078276662 0.3633736430221612"/>
+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_9"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_hand_ring_skin_10"/>
-  <joint name="l_hand_ring_skin_10_fixed_joint" type="fixed">
-    <origin xyz="-0.0032999678913586076 -0.004082083424969074 -0.027766666771285198" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_10"/>
+  <link name="r_hand_ring_skin_10"/>
+  <joint name="r_hand_ring_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0032993838888264685 -0.00409348890113434 -0.02776568877248392" rpy="-3.1415881649812016 1.5050938361710562 1.5708006164943"/>
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-    <parent link="l_hand_ring_2"/>
-    <child link="l_hand_ring_skin_11"/>
+  <link name="r_hand_ring_skin_11"/>
+  <joint name="r_hand_ring_skin_11_fixed_joint" type="fixed">
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+    <parent link="r_hand_ring_2"/>
+    <child link="r_hand_ring_skin_11"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_middle_1">
+  <link name="r_hand_index_1">
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+      <geometry>
+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
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+    </visual>
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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"/>
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+    </collision>
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+  <joint name="r_index_add" type="revolute">
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+    <axis xyz="-3.992524267790176e-07 0.999999978353397 2.1441989261905547e-07"/>
+    <parent link="r_hand_palm"/>
+    <child link="r_hand_index_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
+  </joint>
+  <link name="r_hand_index_2">
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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"/>
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-      <material name="yellow">
-        <color rgba="1 1 0 1"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
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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"/>
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-    <parent link="l_hand_palm"/>
-    <child link="l_hand_middle_1"/>
+  <joint name="r_index_prox" type="revolute">
+    <origin xyz="-0.00919254974303696 -1.6307953948357934e-07 -0.03071362320201243" rpy="0 0 0"/>
+    <axis xyz="-0.9999995872902697 -2.6872936789712476e-07 4.668360350512657e-07"/>
+    <parent link="r_hand_index_1"/>
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     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_hand_middle_2">
+  <link name="r_hand_index_3">
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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"/>
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-      <material name="pink">
-        <color rgba="1 0 1 1"/>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
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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"/>
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-    <parent link="l_hand_middle_1"/>
-    <child link="l_hand_middle_2"/>
+  <joint name="r_index_dist" type="revolute">
+    <origin xyz="0 -0.0014998229561488108 -0.030000484918389303" rpy="0 0 0"/>
+    <axis xyz="-0.9999995872902697 -2.6872936789712476e-07 4.668360350512657e-07"/>
+    <parent link="r_hand_index_2"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_0"/>
+  <link name="r_hand_index_skin_0"/>
+  <joint name="r_hand_index_skin_0_fixed_joint" type="fixed">
+    <origin xyz="6.083293345379714e-07 -0.0024337142786424737 -0.02140564618132018" rpy="-1.358973927973795e-06 1.2224885677301185 -1.5707970308820571"/>
+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_0"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_middle_skin_1"/>
-  <joint name="l_hand_middle_skin_1_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_1"/>
+  <link name="r_hand_index_skin_1"/>
+  <joint name="r_hand_index_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.0033010071874996078 -0.0031310503039992388 -0.023280686406158713" rpy="-1.004508784930116e-06 1.2201097511639787 -1.5707973956436345"/>
+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_1"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_middle_skin_2"/>
-  <joint name="l_hand_middle_skin_2_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_2"/>
+  <link name="r_hand_index_skin_2"/>
+  <joint name="r_hand_index_skin_2_fixed_joint" type="fixed">
+    <origin xyz="9.879565030165849e-07 -0.003758522823116728 -0.025192849922389737" rpy="-2.0192589424348972e-07 1.3057399175861366 -1.5707961736993847"/>
+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_2"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_middle_skin_3"/>
-  <joint name="l_hand_middle_skin_3_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_3"/>
+  <link name="r_hand_index_skin_3"/>
+  <joint name="r_hand_index_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0033009199416053556 -0.0040814756407019925 -0.027766769962195237" rpy="-3.141590806265971 1.5047757593824544 1.570798933120569"/>
+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_3"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_middle_skin_4"/>
-  <joint name="l_hand_middle_skin_4_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_4"/>
+  <link name="r_hand_index_skin_4"/>
+  <joint name="r_hand_index_skin_4_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_4"/>
     <dynamics damping="0.1"/>
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-  <link name="l_hand_middle_skin_5"/>
-  <joint name="l_hand_middle_skin_5_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_5"/>
+  <link name="r_hand_index_skin_5"/>
+  <joint name="r_hand_index_skin_5_fixed_joint" type="fixed">
+    <origin xyz="8.852545381604626e-07 -0.0034767433706533735 -0.029835165220775006" rpy="-3.1415916993735475 1.0862258770767357 1.5707970353407095"/>
+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_5"/>
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-  <link name="l_hand_middle_skin_6"/>
-  <joint name="l_hand_middle_skin_6_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_6"/>
+  <link name="r_hand_index_skin_6"/>
+  <joint name="r_hand_index_skin_6_fixed_joint" type="fixed">
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_7"/>
+  <link name="r_hand_index_skin_7"/>
+  <joint name="r_hand_index_skin_7_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_7"/>
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-    <parent link="l_hand_middle_2"/>
-    <child link="l_hand_middle_skin_8"/>
+  <link name="r_hand_index_skin_8"/>
+  <joint name="r_hand_index_skin_8_fixed_joint" type="fixed">
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+    <parent link="r_hand_index_3"/>
+    <child link="r_hand_index_skin_8"/>
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-    <child link="l_hand_middle_skin_9"/>
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+    <parent link="r_hand_index_3"/>
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     <dynamics damping="0.1"/>
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-        <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_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="neck_2_color">
+      <material name="l_shoulder_1_color">
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-        <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_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <origin xyz="0.00486151 0 0.22529999999999997" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
+  <joint name="l_shoulder_pitch" type="revolute">
+    <origin xyz="-0.013518699987774399 0.06704760000246503 0.12352000000000002" rpy="0.2536122437269179 -0.05203123024743728 -0.27527871815172983"/>
+    <axis xyz="1.4958988243767013e-07 0.9999999783534517 2.7220291587415346e-07"/>
     <parent link="chest"/>
-    <child link="neck_2"/>
-    <limit effort="50000" lower="-0.5235987755982988" upper="0.3839724354387525" velocity="120.0"/>
+    <child link="l_shoulder_1"/>
+    <limit effort="50000" lower="-3.0543261909900767" upper="0.3490658503988659" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="neck_3">
+  <link name="l_shoulder_2">
     <inertial>
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-        <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_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="neck_3_color">
+      <material name="l_shoulder_2_color">
         <color rgba="0.7 0.7 0.7 1"/>
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-        <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_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="neck_3"/>
-    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
+  <joint name="l_shoulder_roll" type="revolute">
+    <origin xyz="0.00500012990494483 0.09329948520836115 -4.341360000936767e-07" rpy="0 0 0"/>
+    <axis xyz="0.9999998262416893 3.56920377206707e-07 2.721582535170075e-07"/>
+    <parent link="l_shoulder_1"/>
+    <child link="l_shoulder_2"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="head">
+  <link name="l_shoulder_3">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="head_color">
+      <material name="l_shoulder_3_color">
         <color rgba="0.7 0.7 0.7 1"/>
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-        <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_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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-  <link name="imu_frame"/>
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-    <parent link="head"/>
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-  <link name="head_laser_frame"/>
-  <joint name="head_laser_frame_fixed_joint" type="fixed">
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-    <parent link="head"/>
-    <child link="head_laser_frame"/>
+  <joint name="l_arm_ft_sensor" type="fixed">
+    <origin xyz="-0.004350065786786487 2.435985168580679e-07 -0.054299880148590496" rpy="0 0 0"/>
+    <parent link="l_shoulder_2"/>
+    <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
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-  <link name="realsense">
+  <link name="l_upperarm">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="cyan">
-        <color rgba="0 1 1 1"/>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
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-        <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_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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+  <joint name="l_shoulder_yaw" type="revolute">
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+    <axis xyz="-3.936910710766739e-07 1.8507626386998766e-07 0.9999995705743131"/>
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+    <child link="l_upperarm"/>
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-  <link name="realsense_depth_frame"/>
-  <joint name="realsense_depth_frame_fixed_joint" type="fixed">
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-  <link name="realsense_rgb_frame"/>
-  <joint name="realsense_rgb_frame_fixed_joint" type="fixed">
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-    <parent link="realsense"/>
-    <child link="realsense_rgb_frame"/>
-    <dynamics damping="0.1"/>
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-  <link name="l_hip_1">
+  <link name="l_forearm">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_hip_1_color">
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+      <material name="l_forearm_color">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_hip_1"/>
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+  <joint name="l_elbow" type="revolute">
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+    <parent link="l_upperarm"/>
+    <child link="l_forearm"/>
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hip_2">
+  <link name="l_wrist_1">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_hip_2_color">
+      <material name="l_wrist_1_color">
         <color rgba="0.7 0.7 0.7 1"/>
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_hip_2"/>
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+  <joint name="l_wrist_yaw" type="revolute">
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     <dynamics damping="2.0" friction="0.0"/>
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-  <link name="l_hip_3">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_hip_3_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="pink">
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+        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_l_wrist_2_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_leg_ft_sensor" type="fixed">
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-    <parent link="l_hip_2"/>
-    <child link="l_hip_3"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_wrist_roll" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262416893 -3.56920377206707e-07 -2.721582535170075e-07"/>
+    <parent link="l_wrist_1"/>
+    <child link="l_wrist_2"/>
+    <limit effort="50000" lower="-1.0821041362364843" upper="0.9075712110370514" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_upper_leg">
+  <link name="l_hand_palm">
     <inertial>
-      <origin xyz="0.0085035 0.014484900000000009 -0.126747" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.78492"/>
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+      <mass value="0.193024"/>
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     </inertial>
     <visual>
-      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
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       <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_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_upper_leg_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.01055000000000001 -0.06860000000000005 0.3499" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.025778568952600042 -0.2002603076921135 0.22682584341786538" rpy="0.12008501986317731 0.2297882840735942 1.8533146530335884"/>
       <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_hand_palm_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
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-  <joint name="l_hip_yaw" type="revolute">
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-    <axis xyz="0.0 0.0 1.0"/>
-    <parent link="l_hip_3"/>
-    <child link="l_upper_leg"/>
-    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="l_wrist_pitch" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="-1.4958988243767013e-07 -0.9999999783534517 -2.7220291587415346e-07"/>
+    <parent link="l_wrist_2"/>
+    <child link="l_hand_palm"/>
+    <limit effort="50000" lower="-0.5585053606381855" upper="0.5585053606381855" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_lower_leg">
+  <link name="l_hand_ring_1">
     <inertial>
-      <origin xyz="0.0013845000000000038 -0.006187100000000001 0.21426" rpy="3.141592653589793 0 -1.5707963267948966"/>
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+      <origin xyz="0.00014280339169172197 0.0036426704125520626 -0.014331537616628587" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
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     <visual>
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       <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_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_lower_leg_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.021150000000000016 0.06070000000000036 -0.5296000000000004" rpy="3.141592653589793 0 -1.5707963267948966"/>
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-        <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_hand_ring_1_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
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-  <joint name="l_knee" type="revolute">
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-    <parent link="l_upper_leg"/>
-    <child link="l_lower_leg"/>
-    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
+  <joint name="l_ring_prox" type="revolute">
+    <origin xyz="-0.015417865717831492 -0.0018501027039076468 -0.09790043518642755" rpy="0 0.08726650590388031 0.026179823381597748"/>
+    <axis xyz="1.0000005135466863 1.979209419246744e-07 4.060128685548503e-07"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_ring_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_ankle_1">
+  <link name="l_hand_ring_2">
     <inertial>
-      <origin xyz="-0.0013851999999999962 0.0006601999999999997 -0.01408699999999996" rpy="0 0 1.5707963267948966"/>
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+      <origin xyz="5.158639613811293e-05 0.0015996223776358065 -0.003590597740307344" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
+      <mass value="0.00912524"/>
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     <visual>
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       <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_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_ankle_1_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="-0.021150000000000165 -0.09260000000000018 0.8506000000000005" rpy="0 0 1.5707963267948966"/>
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-        <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_hand_ring_2_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
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-  <joint name="l_ankle_pitch" type="revolute">
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-    <parent link="l_lower_leg"/>
-    <child link="l_ankle_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+  <joint name="l_ring_dist" type="revolute">
+    <origin xyz="0 -0.0014999206015293143 -0.03000056411131863" rpy="0 0 0"/>
+    <axis xyz="-1.0000005135466863 -1.979209419246744e-07 -4.060128685548503e-07"/>
+    <parent link="l_hand_ring_1"/>
+    <child link="l_hand_ring_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_ankle_2">
+  <link name="l_hand_ring_skin_0"/>
+  <joint name="l_hand_ring_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0 -0.002434109766516368 -0.021405903344744404" rpy="3.19241308601029e-07 1.2224879756285634 -1.5707957505342052"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_1"/>
+  <joint name="l_hand_ring_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.003299959717504228 -0.0031312149423083635 -0.02328043103333599" rpy="7.841409816247398e-07 1.220109279873348 -1.5707953766916674"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_2"/>
+  <joint name="l_hand_ring_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.003758755164085026 -0.02519260657118344" rpy="2.109983659924688e-06 1.3057391422971405 -1.57079420774816"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_3"/>
+  <joint name="l_hand_ring_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.0032999611388028777 -0.004081908765223963 -0.02776658723492642" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_4"/>
+  <joint name="l_hand_ring_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929559072218151 -0.0011924106023348813 -0.02799965564814172" rpy="3.1415923272373556 1.299444799530583 2.7771553646234826"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_5"/>
+  <joint name="l_hand_ring_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034766110824936136 -0.02983485885572207" rpy="3.141592267163769 1.086225807890324 1.570796144313782"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_6"/>
+  <joint name="l_hand_ring_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0033000024742935834 -0.0018246687466073053 -0.03177155146156402" rpy="3.1415925874639985 0.7785363357981874 2.5323859043537085"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_7"/>
+  <joint name="l_hand_ring_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0 -0.000273182602237132 -0.03327141530303279" rpy="3.141592083365392 0.6184190542087526 1.5713170178340956"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_8"/>
+  <joint name="l_hand_ring_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.003299926555867876 -0.001824843406352472 -0.03177163099792274" rpy="-3.141592630967883 0.7785355069422046 0.6092077934143093"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_9"/>
+  <joint name="l_hand_ring_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929446120504852 -0.0011926740085302368 -0.02800007942441246" rpy="-3.1415921627311505 1.2994436529688218 0.36443765521426325"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_10"/>
+  <joint name="l_hand_ring_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999678913585937 -0.00408208342496913 -0.027766666771285198" rpy="3.141583892131502 1.5047765106577695 1.5707878943439342"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_ring_skin_11"/>
+  <joint name="l_hand_ring_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.003299969312657214 -0.003131389602053558 -0.023280510569694823" rpy="7.841409816247398e-07 1.220109279873348 -1.5707953766916674"/>
+    <parent link="l_hand_ring_2"/>
+    <child link="l_hand_ring_skin_11"/>
+    <dynamics damping="0.1"/>
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+  <link name="l_hand_index_1">
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-        <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_hand_index_1_prt.stl" scale="0.001 0.001 0.001"/>
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-      <material name="l_ankle_2_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="dblue">
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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"/>
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-  <joint name="l_ankle_roll" type="revolute">
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-    <child link="l_ankle_2"/>
-    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
+  <joint name="l_index_add" type="revolute">
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+    <parent link="l_hand_palm"/>
+    <child link="l_hand_index_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_foot_front">
+  <link name="l_hand_index_2">
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     <visual>
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       <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_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_foot_front_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="dgreen">
+        <color rgba="0.1 0.8 0.1 1"/>
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     </visual>
     <collision>
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       <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_hand_index_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_foot_front_ft_sensor" type="fixed">
-    <origin xyz="0.13525 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="l_ankle_2"/>
-    <child link="l_foot_front"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_index_prox" type="revolute">
+    <origin xyz="0.009192549743036973 -1.6307953948357934e-07 -0.030713623202012375" rpy="0 0 0"/>
+    <axis xyz="-0.9999995872902697 2.6872936789712476e-07 -4.668360350512657e-07"/>
+    <parent link="l_hand_index_1"/>
+    <child link="l_hand_index_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="l_foot_rear">
+  <link name="l_hand_index_3">
     <inertial>
-      <origin xyz="0.0005878999999999988 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.221105"/>
-      <inertia ixx="0.000260872" ixy="0.0" ixz="-5.72999e-09" iyy="0.000191206" iyz="3.29086e-09" izz="0.000450088"/>
+      <origin xyz="5.9109449817802695e-05 0.0016001193440265127 -0.003591033160222079" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
+      <mass value="0.00912524"/>
+      <inertia ixx="3.23928e-06" ixy="1.8521e-07" ixz="7.98775e-07" iyy="3.32445e-06" iyz="-6.45784e-07" izz="6.57272e-07"/>
     </inertial>
     <visual>
-      <origin xyz="0.015599999999999909 -0.07440000000000056 0.9558000000000011" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.019850732699259722 -0.19720947570560032 0.35471630507241264" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
       <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_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="l_foot_rear_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.015599999999999909 -0.07440000000000056 0.9558000000000011" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.019850732699259722 -0.19720947570560032 0.35471630507241264" rpy="0.20567444929844825 0.20467244819585653 1.8717733650332327"/>
       <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_hand_index_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_foot_rear_ft_sensor" type="fixed">
-    <origin xyz="0.016000000000000004 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="l_ankle_2"/>
-    <child link="l_foot_rear"/>
+  <joint name="l_index_dist" type="revolute">
+    <origin xyz="0 -0.0015006327879180659 -0.02999922319857601" rpy="0 0 0"/>
+    <axis xyz="-0.9999995872902697 2.6872936789712476e-07 -4.668360350512657e-07"/>
+    <parent link="l_hand_index_2"/>
+    <child link="l_hand_index_3"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
+  </joint>
+  <link name="l_hand_index_skin_0"/>
+  <joint name="l_hand_index_skin_0_fixed_joint" type="fixed">
+    <origin xyz="2.02830541008725e-07 -0.0024337142787178856 -0.0214068046370407" rpy="1.3589739287870087e-06 1.222488567730119 -1.5707956227077366"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_sole"/>
-  <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
-    <parent link="l_foot_rear"/>
-    <child link="l_sole"/>
+  <link name="l_hand_index_skin_1"/>
+  <joint name="l_hand_index_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.00330018002039012 -0.0031312039972868355 -0.023281879205948874" rpy="1.0045087854148686e-06 1.2201097511639785 -1.5707952579461582"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_hip_1">
+  <link name="l_hand_index_skin_2"/>
+  <joint name="l_hand_index_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0037582722604465324 -0.025193049887115737" rpy="2.019258946672971e-07 1.305739917586136 -1.5707964798904088"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_3"/>
+  <joint name="l_hand_index_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.003300267266284379 -0.004081629333989534 -0.027767962761985454" rpy="3.1415923305252225 1.5047762567210512 1.5707960116499358"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_4"/>
+  <joint name="l_hand_index_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929574139393212 -0.0011921762933711222 -0.02800035143013324" rpy="-3.141592000798577 1.2994444690524731 2.7771560098086976"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_5"/>
+  <joint name="l_hand_index_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034767433707287576 -0.029836323676495524" rpy="3.1415916993735475 1.0862258770767357 1.570795618249084"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_6"/>
+  <joint name="l_hand_index_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0032998108383007554 -0.0018242465422362297 -0.03177275148589709" rpy="3.1415920569068843 0.7785360318433139 2.532384926237606"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_7"/>
+  <joint name="l_hand_index_skin_7_fixed_joint" type="fixed">
+    <origin xyz="-1.7765327827573563e-07 -0.000272313592458967 -0.03327286783966488" rpy="3.141592488071993 0.6184189897566703 1.5713167119394844"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_8"/>
+  <joint name="l_hand_index_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.003299617986161782 -0.001823842286354016 -0.03177291710655328" rpy="3.1415926400948937 0.7785356574796937 0.6092071825770647"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_9"/>
+  <joint name="l_hand_index_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929289581785957 -0.0011924954736174942 -0.0280007264298755" rpy="-3.141591222167342 1.2994438865660223 0.36443832683545135"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_10"/>
+  <joint name="l_hand_index_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0033001087817297603 -0.004081475640777432 -0.027767928417915755" rpy="3.1415923305252225 1.5047762567210512 1.5707960116499358"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_index_skin_11"/>
+  <joint name="l_hand_index_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.003300196027624047 -0.0031310503040746507 -0.02328184486187923" rpy="1.0045087854148686e-06 1.2201097511639785 -1.5707952579461582"/>
+    <parent link="l_hand_index_3"/>
+    <child link="l_hand_index_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_1">
     <inertial>
-      <origin xyz="-0.004091800000000003 -0.0281729 -0.0007410000000000194" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.22779"/>
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+      <origin xyz="0.0001426788707961056 0.003642823793353789 -0.014331376909090254" rpy="0.12008501986317731 0.2297882840735942 1.8533146530335884"/>
+      <mass value="0.00345703"/>
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     </inertial>
     <visual>
-      <origin xyz="-0.021099999999984832 0.0505 0.1785000000000018" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.01617835428392994 -0.19875945050109686 0.32982571996156645" rpy="0.12008501986317731 0.2297882840735942 1.8533146530335884"/>
       <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_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_hip_1_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021099999999984832 0.0505 0.1785000000000018" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.01617835428392994 -0.19875945050109686 0.32982571996156645" rpy="0.12008501986317731 0.2297882840735942 1.8533146530335884"/>
       <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_l_hand_middle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_pitch" type="revolute">
-    <origin xyz="0.0211 -0.050550000000000005 0" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
-    <parent link="root_link"/>
-    <child link="r_hip_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
+  <joint name="l_middle_prox" type="revolute">
+    <origin xyz="0.009600214668670098 -0.0015008571910165858 -0.10299987654370085" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262416893 -3.56920377206707e-07 -2.721582535170075e-07"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_middle_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hip_2">
+  <link name="l_hand_middle_2">
     <inertial>
-      <origin xyz="-0.004133600000000001 -4.650000000000487e-05 -0.03744" rpy="0 0 1.5707963267948966"/>
-      <mass value="1.8336"/>
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+      <origin xyz="5.172124499746439e-05 0.0015996341583800477 -0.003590479003163727" rpy="0.11954926259843997 0.22799029281164018 1.8531928341958708"/>
+      <mass value="0.00912524"/>
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     <visual>
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       <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_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_hip_2_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026200000000015138 0.08360000000001595 0.1874999999999947" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.016178446836467256 -0.19793324107587792 0.3594559877864297" rpy="0.11954926259843997 0.22799029281164018 1.8531928341958708"/>
       <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_l_hand_middle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_roll" type="revolute">
-    <origin xyz="-0.0473 -0.03309999999999999 -0.009000000000000008" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_hip_1"/>
-    <child link="r_hip_2"/>
-    <limit effort="50000" lower="-0.17453292519943295" upper="1.9547687622336491" velocity="120.0"/>
+  <joint name="l_middle_dist" type="revolute">
+    <origin xyz="-1.3550151000546462e-07 -0.0014995238274964628 -0.03000020325318492" rpy="-0.0018721728628663644 0 2.576685250299645e-07"/>
+    <axis xyz="-0.9999998262417538 -9.878318872787173e-08 -2.5044776373606137e-07"/>
+    <parent link="l_hand_middle_1"/>
+    <child link="l_hand_middle_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_hip_3">
-    <inertial>
-      <origin xyz="0.005151000000000001 0.012832099999999999 -0.051687999999999956" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.1479"/>
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-    <visual>
-      <origin xyz="-0.01049999999998486 0.08360000000001595 0.27719999999999473" rpy="0 0 1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="r_hip_3_color">
-        <color rgba="0.3 0.3 0.3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="-0.01049999999998486 0.08360000000001595 0.27719999999999473" rpy="0 0 1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="r_leg_ft_sensor" type="fixed">
-    <origin xyz="0.0367 0 -0.0897" rpy="0 0 0"/>
-    <parent link="r_hip_2"/>
-    <child link="r_hip_3"/>
+  <link name="l_hand_middle_skin_0"/>
+  <joint name="l_hand_middle_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0024341633880323454 -0.02140626784029226" rpy="2.8880021565356356e-07 1.2224888157071614 -1.5707959092703505"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_1"/>
+  <joint name="l_hand_middle_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.0032999923469937895 -0.0031310595632358384 -0.023281089805274435" rpy="1.4298532751994242e-06 1.2201100060845365 -1.5707950386454854"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_2"/>
+  <joint name="l_hand_middle_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0037584600637464993 -0.025193167911877645" rpy="2.67805384222918e-06 1.3057397262072086 -1.5707938810851714"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_3"/>
+  <joint name="l_hand_middle_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.003300181170510192 -0.004082174556855278 -0.027766773373389564" rpy="3.14159206598453 1.504776403539619 1.5707957068952807"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_4"/>
+  <joint name="l_hand_middle_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.005929732632988013 -0.001192832553830403 -0.027999915681298115" rpy="3.141592336413363 1.299444945688194 2.7771552495198835"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_5"/>
+  <joint name="l_hand_middle_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0034765832806818997 -0.02983570347842418" rpy="3.1415923106025314 1.086225709334958 1.5707962889575584"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_6"/>
+  <joint name="l_hand_middle_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0033001032954547184 -0.0018248945553451246 -0.031771757727755756" rpy="-3.1415924841511433 0.7785357399039169 2.532385692627037"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_7"/>
+  <joint name="l_hand_middle_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0 -0.0002725978091493997 -0.033271502713935364" rpy="3.141592263055179 0.6184187545317414 1.5713165725114155"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_8"/>
+  <joint name="l_hand_middle_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999946700499154 -0.0018244087955724964 -0.0317716170907979" rpy="-3.141592114011197 0.7785357191047289 0.60920707683613"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_9"/>
+  <joint name="l_hand_middle_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.005929566529031996 -0.0011920519924579764 -0.028000347463470243" rpy="-3.141592260042174 1.299444239340149 0.3644371706703166"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_10"/>
+  <joint name="l_hand_middle_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999688028366864 -0.004081937549531761 -0.027767599906222185" rpy="3.14159206598453 1.504776403539619 1.5707957068952807"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_middle_skin_11"/>
+  <joint name="l_hand_middle_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.0032999302761450126 -0.0031315344195035066 -0.023280711530192733" rpy="1.4298532751994242e-06 1.2201100060845365 -1.5707950386454854"/>
+    <parent link="l_hand_middle_2"/>
+    <child link="l_hand_middle_skin_11"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_upper_leg">
+  <link name="l_hand_thumb_1">
     <inertial>
-      <origin xyz="0.008517499999999999 -0.014468500000000009 -0.12674999999999997" rpy="0 0 1.5707963267948966"/>
-      <mass value="2.78492"/>
-      <inertia ixx="0.0121093" ixy="-5.45559e-05" ixz="-0.000403319" iyy="0.0118603" iyz="-0.000539364" izz="0.00226097"/>
+      <origin xyz="0.020687992873158395 0.003255220723100055 -0.008896940067464165" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
+      <mass value="0.0346205"/>
+      <inertia ixx="9.63708e-06" ixy="-2.06718e-06" ixz="-4.99381e-07" iyy="4.92086e-06" iyz="-2.5225e-06" izz="8.15032e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.010499999999984893 0.06860000000001601 0.3498999999999947" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
       <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_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_upper_leg_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.010499999999984893 0.06860000000001601 0.3498999999999947" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.1322803583541615 -0.15858996430408137 0.2541102113185044" rpy="0.3407559733652857 0.16157290397540883 2.2910827715586013"/>
       <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_l_hand_thumb_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_yaw" type="revolute">
-    <origin xyz="0 0.015 -0.07269999999999999" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="r_hip_3"/>
-    <child link="r_upper_leg"/>
-    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="l_thumb_add" type="revolute">
+    <origin xyz="0.023374937816838005 -0.003000071417791822 -0.034523522800941175" rpy="0.08853717963934662 -0.2091803673917457 -0.40396882311318977"/>
+    <axis xyz="-9.579078130705909e-08 6.90101362721407e-08 -1.0000003967894144"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_thumb_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_lower_leg">
+  <link name="l_hand_thumb_2">
     <inertial>
-      <origin xyz="0.0011584999999999998 0.006200199999999989 0.21425899999999998" rpy="3.141592653589793 0 -1.5707963267948966"/>
-      <mass value="3.74161"/>
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+      <origin xyz="0.009791991208288692 0.004339703993751859 0.0002629570752250565" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <mass value="0.00246082"/>
+      <inertia ixx="1.86023e-07" ixy="-1.15428e-08" ixz="-1.55154e-08" iyy="1.58138e-07" iyz="-2.43359e-08" izz="1.86587e-07"/>
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     <visual>
-      <origin xyz="-0.02109999999998385 -0.060700000000016026 -0.5295999999999949" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_lower_leg_color">
-        <color rgba="0.3 0.3 0.3 1"/>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.02109999999998385 -0.060700000000016026 -0.5295999999999949" rpy="3.141592653589793 0 -1.5707963267948966"/>
+      <origin xyz="-0.09215234480058533 0.2395110056057534 0.21989844725116847" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_knee" type="revolute">
-    <origin xyz="0.0106 0.00789999999999999 -0.17970000000000008" rpy="3.141592653589793 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="r_upper_leg"/>
-    <child link="r_lower_leg"/>
-    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
+  <joint name="l_thumb_prox" type="revolute">
+    <origin xyz="0.03454190438141733 0.0031447987794122334 -0.026071809138455138" rpy="1.3486854426081958 0.6514100961972398 1.2371890149379312e-06"/>
+    <axis xyz="-6.65068723482154e-07 2.7824760159833595e-07 1.0000002266902146"/>
+    <parent link="l_hand_thumb_1"/>
+    <child link="l_hand_thumb_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_ankle_1">
+  <link name="l_hand_thumb_3">
     <inertial>
-      <origin xyz="-0.001367199999999999 -0.0006601999999999997 -0.01408699999999996" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.348128"/>
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+      <origin xyz="0.006464657686845246 0.001884491656128695 1.5530289565829358e-05" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
+      <mass value="0.00811336"/>
+      <inertia ixx="1.82522e-06" ixy="-6.71818e-07" ixz="-3.37336e-07" iyy="9.45172e-07" iyz="-6.24005e-07" izz="1.87862e-06"/>
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     <visual>
-      <origin xyz="-0.021100000000058197 0.092600000000016 0.8505999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_ankle_1_color">
-        <color rgba="0.7 0.7 0.7 1"/>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.021100000000058197 0.092600000000016 0.8505999999999929" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="-0.11215186322773268 0.24101052770139572 0.21989803874896846" rpy="1.836586646685542 0.9949596465626955 -2.452146247302006"/>
       <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_l_hand_thumb_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ankle_pitch" type="revolute">
-    <origin xyz="0 0.0319 0.32099999999999995" rpy="3.141592653589793 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="r_lower_leg"/>
-    <child link="r_ankle_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+  <joint name="l_thumb_dist" type="revolute">
+    <origin xyz="0.01999951842714734 -0.0014995220956423305 4.0850220001109605e-07" rpy="0 0 0"/>
+    <axis xyz="-6.65068723482154e-07 2.7824760159833595e-07 1.0000002266902146"/>
+    <parent link="l_hand_thumb_2"/>
+    <child link="l_hand_thumb_3"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
     <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_ankle_2">
-    <inertial>
-      <origin xyz="0.040526469999999995 -8.640000000000037e-05 -0.023870999999999976" rpy="0 0 1.5707963267948966"/>
-      <mass value="1.54182"/>
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-    </inertial>
-    <visual>
-      <origin xyz="0.031649999999941794 0.07439999999994094 0.8855999999999997" rpy="0 0 1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="r_ankle_2_color">
-        <color rgba="0.3 0.3 0.3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0.031649999999941794 0.07439999999994094 0.8855999999999997" rpy="0 0 1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://ergoCub/meshes/simmechanics/sim_ecub_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="r_ankle_roll" type="revolute">
-    <origin xyz="-0.05275 0.018199999999999994 -0.03500000000000003" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_ankle_1"/>
-    <child link="r_ankle_2"/>
-    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
-    <dynamics damping="2.0" friction="0.0"/>
+  <link name="l_hand_thumb_skin_0"/>
+  <joint name="l_hand_thumb_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.020306533379063282 -0.0024343101858567417 -1.02177518712665e-06" rpy="1.5707963529634608 -7.763677284389983e-07 -0.348308299608484"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_0"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_foot_front">
+  <link name="l_hand_thumb_skin_1"/>
+  <joint name="l_hand_thumb_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.02218144130259432 -0.003131520277003974 0.0033000550744306523" rpy="1.5707968798775 -6.358788514904552e-07 -0.3506868205285684"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_2"/>
+  <joint name="l_hand_thumb_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.024092765288315235 -0.0037586699455105788 0" rpy="1.5707966249662435 -6.175239036510354e-07 -0.26505736279648673"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_3"/>
+  <joint name="l_hand_thumb_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.02666722402677603 -0.004082581893144865 0.0032996629815040257" rpy="1.5707965227938288 -9.019462447191873e-07 0.06601977594073062"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_4"/>
+  <joint name="l_hand_thumb_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.02690021104599309 -0.0011927877443135282 0.0059287648863864395" rpy="0.37702429099789225 0.2531248955594458 0.09883894762271977"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_5"/>
+  <joint name="l_hand_thumb_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0.028735478235047893 -0.00347687151090062 -3.1587642940200666e-07" rpy="1.5707957126757448 -5.513795408585156e-07 0.4845703956395784"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_6"/>
+  <joint name="l_hand_thumb_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.030672478717119214 -0.0018246658485785439 0.0032996972420061" rpy="0.7821843436480906 0.6234816082641762 0.5256769446782557"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_7"/>
+  <joint name="l_hand_thumb_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0.03217216332171892 -0.0002731248779968831 0" rpy="1.5704939137056884 0.00042393168110662526 0.9523772903877968"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_8"/>
+  <joint name="l_hand_thumb_skin_8_fixed_joint" type="fixed">
+    <origin xyz="0.030671762678273276 -0.0018250383011248483 -0.0033001906622364408" rpy="2.3594071882842584 -0.6234824919681496 0.5256776375213161"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_9"/>
+  <joint name="l_hand_thumb_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.026900642650424703 -0.0011927733091181558 -0.005929763387118231" rpy="2.764568857310248 -0.253126241141505 0.09883859873338112"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_10"/>
+  <joint name="l_hand_thumb_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.026667719682656202 -0.00408229584322653 -0.003299911601186978" rpy="1.5707965227938288 -9.019462447191873e-07 0.06601977594073062"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_thumb_skin_11"/>
+  <joint name="l_hand_thumb_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.022181516794865866 -0.00313158061241825 -0.00330035824525321" rpy="1.5707968798775 -6.358788514904552e-07 -0.3506868205285684"/>
+    <parent link="l_hand_thumb_3"/>
+    <child link="l_hand_thumb_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hand_pinkie_1">
     <inertial>
-      <origin xyz="0.0005880000000000052 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.221105"/>
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+      <mass value="0.00283627"/>
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     <visual>
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       <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_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_foot_front_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10360000000005821 0.07439999999994093 0.9557999999999999" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.028549811623539312 -0.19942048890787537 0.3226271900836232" rpy="0.03293841693450851 0.2510502277214382 1.8063707999903837"/>
       <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_l_hand_pinkie_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_front_ft_sensor" type="fixed">
-    <origin xyz="0.13524999999999998 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_front"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_pinkie_prox" type="revolute">
+    <origin xyz="-0.03598224264195511 -0.002388684875026248 -0.09208535104881393" rpy="0 0.08726650590388031 0.026179823381597748"/>
+    <axis xyz="-1.0000005135466863 -1.979209419246744e-07 -4.060128685548503e-07"/>
+    <parent link="l_hand_palm"/>
+    <child link="l_hand_pinkie_1"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
-  <link name="r_foot_rear">
+  <link name="l_hand_pinkie_2">
     <inertial>
-      <origin xyz="0.0005879000000000006 0 0.00229899999999994" rpy="0 0 1.5707963267948966"/>
-      <mass value="0.221105"/>
-      <inertia ixx="0.000260872" ixy="0.0" ixz="-4.27001e-09" iyy="0.000191206" iyz="3.29086e-09" izz="0.000450088"/>
+      <origin xyz="1.712559800553376e-05 0.0017852152950040279 -0.005612274232820069" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
+      <mass value="0.00857923"/>
+      <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="0.015600000000000001 0.07439999999994122 0.9557999999999998" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
       <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_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="r_foot_rear_color">
-        <color rgba="1 0.51 0.0 1"/>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.015600000000000001 0.07439999999994122 0.9557999999999998" rpy="0 0 1.5707963267948966"/>
+      <origin xyz="0.0285502106092587 -0.1979083365759431 0.3476344574461948" rpy="0.03294759939428343 0.25108473598814396 1.806373605758749"/>
       <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_l_hand_pinkie_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_rear_ft_sensor" type="fixed">
-    <origin xyz="0.015999999999999997 0 -0.07019999999999993" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_rear"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_sole"/>
-  <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
-    <parent link="r_foot_rear"/>
-    <child link="r_sole"/>
-    <dynamics damping="0.1"/>
+  <joint name="l_pinkie_dist" type="revolute">
+    <origin xyz="0 -0.0014997508602252463 -0.025000232410908152" rpy="3.5631170772755025e-05 -5.94559868174076e-07 -5.245059638522189e-07"/>
+    <axis xyz="-1.0000005135465095 -7.224204564889453e-07 1.88573045758339e-07"/>
+    <parent link="l_hand_pinkie_1"/>
+    <child link="l_hand_pinkie_2"/>
+    <limit effort="50000" lower="0.0" upper="1.7453292519943295" velocity="120.0"/>
+    <dynamics damping="2.0" friction="0.0"/>
   </joint>
   <link name="base_link"/>
   <joint name="base_link_fixed_joint" type="fixed">
@@ -3102,7 +3117,7 @@
     <sensor name="realsense_head_depth" type="depth">
       <always_on>1</always_on>
       <update_rate>30</update_rate>
-      <pose>0.00751550026595621 0.010000000000000004 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
+      <pose>0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
       <camera name="intel_realsense_depth_camera">
   <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
   <horizontal_fov>1.57079</horizontal_fov>
@@ -3132,7 +3147,7 @@
   </gazebo>
   <sensor name="realsense_head_depth" type="depth">
     <parent link="realsense"/>
-    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000004 -4.911144457775407e-08"/>
+    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000005 -4.911144457775407e-08"/>
   </sensor>
   <gazebo reference="realsense">
     <sensor name="realsense_head_rgb" type="camera">
@@ -3174,7 +3189,7 @@
     <sensor name="realsense_imu_acc_1x1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.00751550026595621 0.010000000000000004 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
+      <pose>0.00751550026595621 0.010000000000000005 -4.911144457775407e-08 -1.5707962931078618 8.881784197001252e-16 -1.5707963267948954</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
     <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_realsense_inertial.ini</yarpConfigurationFile>
 </plugin>
@@ -3182,7 +3197,7 @@
   </gazebo>
   <sensor name="realsense_imu_acc_1x1" type="accelerometer">
     <parent link="realsense"/>
-    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000004 -4.911144457775407e-08"/>
+    <origin rpy="-1.5707962931078618 8.881784197001252e-16 -1.5707963267948954" xyz="0.00751550026595621 0.010000000000000005 -4.911144457775407e-08"/>
   </sensor>
   <gazebo reference="head">
     <sensor name="lasersensor_head" type="ray">