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diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl
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Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl
index 3353e1d7..c3715171 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_2_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3_prt.stl
index 2de936fa..06833655 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hand_thumb_3_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 62d65119..2757232e 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_hip_2_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl
index 178c1b77..1d84aa3f 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_2_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl
index 51c48923..70fcef48 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_hip_3_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl
index 7b93c073..a07b4955 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_lower_leg_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 0c5a2383..465f1578 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_r_shoulder_2_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl
index a8c2a424..568badb3 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_2_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl
index 1c5fb019..6a0db4b9 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_shoulder_3_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl
index 5f0a8381..bf339a68 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upper_leg_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl
index 192367f9..b2a36ab8 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_upperarm_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl
index 0c317fbd..b73f92f0 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_1_prt.stl differ
diff --git a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl
index 96ad7188..d7c7d6e5 100644
Binary files a/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_prt.stl and b/urdf/ergoCub/meshes/simmechanics/sim_ecub_r_wrist_2_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 b45809ba..b36f954c 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 2edf3b9b..0754ec3c 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 0717b88f..ef521972 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 adae2f04..b8df0a95 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 fef90765..57b397ec 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -45,7 +45,7 @@
   </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"/>
+    <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"/>
@@ -75,7 +75,7 @@
   </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"/>
+    <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"/>
@@ -105,7 +105,7 @@
   </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"/>
+    <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"/>
@@ -1129,7 +1129,7 @@
   </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"/>
+    <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"/>
@@ -1305,7 +1305,7 @@
   </link>
   <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"/>
+    <axis xyz="-3.936910710766739e-07 1.8507626386998766e-07 0.9999995705743131"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upperarm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -1365,7 +1365,7 @@
   </link>
   <joint name="l_wrist_yaw" type="revolute">
     <origin xyz="-0.015000090840254901 0.002000700875326722 -0.1943500730975977" rpy="0 0 0"/>
-    <axis xyz="-3.936910710766739e-07 1.8507626386998766e-07 0.9999995705743131"/>
+    <axis xyz="3.936910710766739e-07 -1.8507626386998766e-07 -0.9999995705743131"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -1425,7 +1425,7 @@
   </link>
   <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"/>
+    <axis xyz="1.4958988243767013e-07 0.9999999783534517 2.7220291587415346e-07"/>
     <parent link="l_wrist_2"/>
     <child link="l_hand_palm"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -2299,7 +2299,7 @@
   </link>
   <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"/>
+    <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"/>
@@ -2445,7 +2445,7 @@
   </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"/>
+    <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"/>
@@ -2503,7 +2503,7 @@
   </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"/>
+    <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"/>
@@ -2533,7 +2533,7 @@
   </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"/>
+    <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"/>
@@ -2593,7 +2593,7 @@
   </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"/>
+    <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"/>
@@ -2868,7 +2868,7 @@
   <gazebo reference="l_elbow">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
-  <gazebo reference="l_wrist_prosup">
+  <gazebo reference="l_wrist_roll">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
   <gazebo reference="l_wrist_pitch">
@@ -2895,7 +2895,7 @@
   <gazebo reference="r_elbow">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
-  <gazebo reference="r_wrist_prosup">
+  <gazebo reference="r_wrist_roll">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
   <gazebo reference="r_wrist_pitch">
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
index d4509486..82ccb087 100644
--- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -253,7 +253,7 @@
   </link>
   <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"/>
+    <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"/>
@@ -1217,7 +1217,7 @@
   </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"/>
+    <axis xyz="4.453300185801312e-07 0.9999999783533606 2.834495320125363e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-3.0543261909900767" upper="0.3490658503988659" velocity="120.0"/>
@@ -1247,7 +1247,7 @@
   </link>
   <joint name="l_shoulder_roll" type="revolute">
     <origin xyz="0.00492425107543696 0.12099955745141479 0.0008682398676788106" rpy="0 -0.17453283291838068 -3.434122541820032e-07"/>
-    <axis xyz="-0.9999998262416893 -3.56920377206707e-07 -2.721582535170075e-07"/>
+    <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"/>
@@ -2868,7 +2868,7 @@
   <gazebo reference="l_elbow">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
-  <gazebo reference="l_wrist_prosup">
+  <gazebo reference="l_wrist_roll">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
   <gazebo reference="l_wrist_pitch">
@@ -2895,7 +2895,7 @@
   <gazebo reference="r_elbow">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
-  <gazebo reference="r_wrist_prosup">
+  <gazebo reference="r_wrist_roll">
   <implicitSpringDamper>1</implicitSpringDamper>
 </gazebo>
   <gazebo reference="r_wrist_pitch">