diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index f05f48c9e80132284a4b5d200bb9a94439699fd4..fb98ba0b51124aceab094c35b3c118e5f565b553 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -15,9 +15,15 @@
   <material name="Hey5DarkGrey">
     <color rgba="0.1 0.1 0.1 1.0"/>
   </material>
+  <material name="Black">
+    <color rgba="0 0 0 1"/>
+  </material>
   <material name="FlatBlack">
     <color rgba="0.1 0.1 0.1 1"/>
   </material>
+  <material name="Orange">
+    <color rgba="1 0.5088 0.0468 1"/>
+  </material>
   <!--TODO: Check-->
   <gazebo>
     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
diff --git a/robots/tiago_description/robots/tiago_dual.urdf b/robots/tiago_description/robots/tiago_dual.urdf
index 8f3d204d072d31c4d922b38913ffa85f03ee88d6..d13016f782073c737b68e47670d92bb8787da91e 100644
--- a/robots/tiago_description/robots/tiago_dual.urdf
+++ b/robots/tiago_description/robots/tiago_dual.urdf
@@ -15,6 +15,15 @@
   <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>
+  <material name="Black">
+    <color rgba="0 0 0 1"/>
+  </material>
+  <material name="Orange">
+    <color rgba="1 0.5088 0.0468 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 94f9ad0842208d45db4c7225f76995bccc58d9e2..04eca6d063dab3b8ae16f1d77088b541174e1e02 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -15,9 +15,15 @@
   <material name="Hey5DarkGrey">
     <color rgba="0.1 0.1 0.1 1.0"/>
   </material>
+  <material name="Black">
+    <color rgba="0 0 0 1"/>
+  </material>
   <material name="FlatBlack">
     <color rgba="0.1 0.1 0.1 1"/>
   </material>
+  <material name="Orange">
+    <color rgba="1 0.5088 0.0468 1"/>
+  </material>
   <!--TODO: Check-->
   <gazebo>
     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">