diff --git a/robots/talos_data/robots/talos_full_v2.urdf b/robots/talos_data/robots/talos_full_v2.urdf
index 42afc05a167215d6ea6e9de24b5ab9bfd9518471..532ca16ecfb2ece8c16f3981e3a2358eb367afa2 100644
--- a/robots/talos_data/robots/talos_full_v2.urdf
+++ b/robots/talos_data/robots/talos_full_v2.urdf
@@ -304,26 +304,50 @@
     <parent link="rgbd_link"/>
     <child link="rgbd_depth_frame"/>
   </joint>
-  <link name="rgbd_depth_frame"/>
+  <link name="rgbd_depth_frame">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
   <joint name="rgbd_depth_optical_joint" type="fixed">
     <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
     <parent link="rgbd_depth_frame"/>
     <child link="rgbd_depth_optical_frame"/>
   </joint>
-  <link name="rgbd_depth_optical_frame"/>
+  <link name="rgbd_depth_optical_frame">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>    
   <!-- frames of the rgb sensor -->
   <joint name="rgbd_rgb_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
     <parent link="rgbd_link"/>
     <child link="rgbd_rgb_frame"/>
   </joint>
-  <link name="rgbd_rgb_frame"/>
+  <link name="rgbd_rgb_frame">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>    
   <joint name="rgbd_rgb_optical_joint" type="fixed">
     <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
     <parent link="rgbd_rgb_frame"/>
     <child link="rgbd_rgb_optical_frame"/>
   </joint>
-  <link name="rgbd_rgb_optical_frame"/>
+  <link name="rgbd_rgb_optical_frame">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>            
   <gazebo reference="rgbd_link">
     <!-- IR + depth -->
     <sensor name="rgbd_frame_sensor" type="depth">