diff --git a/robots/hyq_description/robots/hyq_no_sensors.urdf b/robots/hyq_description/robots/hyq_no_sensors.urdf
index 656574ab063819ce2d547cddb4c00c275a8743d4..5295bd428ff06a295da497761a6890dc5ce54f49 100644
--- a/robots/hyq_description/robots/hyq_no_sensors.urdf
+++ b/robots/hyq_description/robots/hyq_no_sensors.urdf
@@ -4,6 +4,12 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <robot name="hyq" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <material name="black">
+    <color rgba="0 0 0 1"/>
+  </material>
   <!-- This argument allows us to load joint sensors that measure the internal wrenches -->
   <!-- The following included files set up definitions of parts of the robot body -->
   <!-- kin limits (sign ref is RH leg)-->
diff --git a/robots/talos_data/robots/talos_full_v2.urdf b/robots/talos_data/robots/talos_full_v2.urdf
index bfc4815252829cd691ed8d76599406c92528c7bb..42afc05a167215d6ea6e9de24b5ab9bfd9518471 100644
--- a/robots/talos_data/robots/talos_full_v2.urdf
+++ b/robots/talos_data/robots/talos_full_v2.urdf
@@ -13,6 +13,9 @@
   Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
 -->
 <robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <!--************************-->
   <!--        TORSO_2  (TILT) -->
   <!--************************-->
diff --git a/robots/talos_data/robots/talos_full_v2_box.urdf b/robots/talos_data/robots/talos_full_v2_box.urdf
index 7b92eb98b02e2aafc9438e23fa8909097e9511f9..7c90cadf4305f1f0dcebe4dc1d3b8bd9f261a6c8 100644
--- a/robots/talos_data/robots/talos_full_v2_box.urdf
+++ b/robots/talos_data/robots/talos_full_v2_box.urdf
@@ -13,6 +13,9 @@
   Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
 -->
 <robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <!--************************-->
   <!--        TORSO_2  (TILT) -->
   <!--************************-->
diff --git a/robots/talos_data/robots/talos_left_arm.urdf b/robots/talos_data/robots/talos_left_arm.urdf
index 74db83970cb04088af0e653f451c35d3da38f938..93202e1a05858165117d097e47b8aa92249349f3 100644
--- a/robots/talos_data/robots/talos_left_arm.urdf
+++ b/robots/talos_data/robots/talos_left_arm.urdf
@@ -13,8 +13,9 @@
   Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
 -->
 <robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
-
-
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <link name="arm_left_1_link">
     <!-- TODO: Missing reflects of inertias -->
     <inertial>
diff --git a/robots/talos_data/robots/talos_reduced.urdf b/robots/talos_data/robots/talos_reduced.urdf
index b2b2fcd4c3be4175a76bc92c1f8fb42edc9deee3..ae5397381292be4f1dad94a9ae21150e79b80afc 100644
--- a/robots/talos_data/robots/talos_reduced.urdf
+++ b/robots/talos_data/robots/talos_reduced.urdf
@@ -13,6 +13,9 @@
   Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
 -->
 <robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <!--File includes-->
   <!--Constant parameters-->
   <!--File includes-->
diff --git a/robots/talos_data/robots/talos_reduced_box.urdf b/robots/talos_data/robots/talos_reduced_box.urdf
index 5b513c73a903798245032fc23f15ac15197024cb..0a18b6f854c43f8d411ab855d93cd98a221fb2e1 100644
--- a/robots/talos_data/robots/talos_reduced_box.urdf
+++ b/robots/talos_data/robots/talos_reduced_box.urdf
@@ -13,6 +13,9 @@
   Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
 -->
 <robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <!--File includes-->
   <!--Constant parameters-->
   <!--File includes-->
diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index 9bd1074dcca29de46deafd5386f9cc31c98e2787..9a8ea780c1214963b08e4c34d3bba9068f8764ff 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -15,6 +15,9 @@
   <material name="Hey5DarkGrey">
     <color rgba="0.1 0.1 0.1 1.0"/>
   </material>
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <!--TODO: Check-->
   <gazebo>
     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index 8b19561c0feda74c7a33fb86edaa6de21824f1b0..d088c5d3e7a3c9534afc3320f3b4b945d866e5ee 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -15,6 +15,9 @@
   <material name="Hey5DarkGrey">
     <color rgba="0.1 0.1 0.1 1.0"/>
   </material>
+  <material name="FlatBlack">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
   <!--TODO: Check-->
   <gazebo>
     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">