diff --git a/tiago_description/config/collision/collision_parameters.yaml b/tiago_description/config/collision/collision_parameters.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3886d50af14e3150ab45f49cb72432fa0fb4da9c
--- /dev/null
+++ b/tiago_description/config/collision/collision_parameters.yaml
@@ -0,0 +1,154 @@
+collision_model_parameters:
+  padding: 0.025
+  links_with_padding: [arm_4_link,
+  arm_5_link, arm_6_link, arm_7_link, gripper_link, gripper_right_finger_link,
+  gripper_left_finger_link]
+  blacklist:
+    default:
+      - first: arm_2_link
+        second: torso_lift_link
+      - first: arm_5_link
+        second: wrist_ft_link
+      - first: arm_5_link
+        second: wrist_ft_tool_link
+      - first: arm_6_link
+        second: wrist_ft_link
+      - first: arm_6_link
+        second: wrist_ft_tool_link
+      - first: arm_tool_link
+        second: wrist_ft_link
+      - first: ground_plane
+        second: base_link
+      - first: ground_plane
+        second: caster_back_left_1_link
+      - first: ground_plane
+        second: caster_back_left_1_link
+      - first: ground_plane
+        second: caster_back_left_2_link
+      - first: ground_plane
+        second: caster_back_right_1_link
+      - first: ground_plane
+        second: caster_back_right_2_link
+      - first: ground_plane
+        second: caster_front_left_1_link
+      - first: ground_plane
+        second: caster_front_left_2_link
+      - first: ground_plane
+        second: caster_front_right_1_link
+      - first: ground_plane
+        second: caster_front_right_2_link
+      - first: ground_plane
+        second: wheel_right_link
+      - first: ground_plane
+        second: wheel_left_link
+      - first: wrist_ft_link
+        second: wrist_ft_tool_link
+      - first: gripper_link # PAL and WSG Gripper link
+        second: gripper_tool_link
+      - first: gripper_link # PAL and WSG Gripper link
+        second: wrist_ft_tool_link
+      - first: gripper_link # PAL and WSG Gripper link
+        second: wrist_ft_link
+      - first: gripper_tool_link
+        second: gripper_right_finger_link
+      - first: gripper_tool_link
+        second: gripper_left_finger_link
+      - first: gripper_tool_link
+        second: wrist_ft_tool_link
+      # Hey5 links
+      - first: hand_link
+        second: wrist_ft_tool_link
+      - first: hand_link
+        second: wrist_ft_link
+      - first: hand_tool_link
+        second: hand_safety_box
+      - first: hand_tool_link
+        second: hand_little_virtual_2_link
+      - first: hand_tool_link
+        second: hand_middle_abd_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_3_link
+      - first: hand_tool_link
+        second: hand_little_virtual_1_link
+      - first: hand_tool_link
+        second: hand_index_flex_1_link
+      - first: hand_tool_link
+        second: hand_index_flex_1_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_3_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_1_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_2_link
+      - first: hand_tool_link
+        second: hand_thumb_flex_2_link
+      - first: hand_tool_link
+        second: hand_index_abd_link
+      - first: hand_tool_link
+        second: hand_index_flex_1_link
+      - first: hand_tool_link
+        second: hand_index_flex_2_link
+      - first: hand_tool_link
+        second: hand_index_flex_3_link
+      - first: hand_tool_link
+        second: hand_index_virtual_1_link
+      - first: hand_tool_link
+        second: hand_index_virtual_2_link
+      - first: hand_tool_link
+        second: hand_index_virtual_3_link
+      - first: hand_tool_link
+        second: hand_little_abd_link
+      - first: hand_tool_link
+        second: hand_little_flex_1_link
+      - first: hand_tool_link
+        second: hand_little_flex_2_link
+      - first: hand_tool_link
+        second: hand_little_flex_3_link
+      - first: hand_tool_link
+        second: hand_little_virtual_1_link
+      - first: hand_tool_link
+        second: hand_little_virtual_2_link
+      - first: hand_tool_link
+        second: hand_little_virtual_3_link
+      - first: hand_tool_link
+        second: hand_middle_abd_link
+      - first: hand_tool_link
+        second: hand_middle_flex_1_link
+      - first: hand_tool_link
+        second: hand_middle_flex_2_link
+      - first: hand_tool_link
+        second: hand_middle_flex_3_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_1_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_2_link
+      - first: hand_tool_link
+        second: hand_middle_virtual_3_link
+      - first: hand_tool_link
+        second: hand_palm_link
+      - first: hand_tool_link
+        second: hand_ring_abd_link
+      - first: hand_tool_link
+        second: hand_ring_flex_1_link
+      - first: hand_tool_link
+        second: hand_ring_flex_2_link
+      - first: hand_tool_link
+        second: hand_ring_flex_3_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_1_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_2_link
+      - first: hand_tool_link
+        second: hand_ring_virtual_3_link
+      - first: hand_tool_link
+        second: hand_safety_box
+      - first: hand_tool_link
+        second: hand_thumb_abd_link
+      - first: hand_tool_link
+        second: hand_thumb_flex_1_link
+      - first: hand_tool_link
+        second: hand_thumb_flex_2_link
+      - first: hand_tool_link
+        second: hand_thumb_virtual_1_link
+      - first: hand_tool_link
+        second: hand_thumb_virtual_2_link
diff --git a/tiago_description/meshes/arm/arm_1.stl b/tiago_description/meshes/arm/arm_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a294d59958514d9c32f036e1f5f068a49b509d48
Binary files /dev/null and b/tiago_description/meshes/arm/arm_1.stl differ
diff --git a/tiago_description/meshes/arm/arm_1_collision.dae b/tiago_description/meshes/arm/arm_1_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..e34daaebfc3a8ae5784c9b03b3e9f5361e9dbb47
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_1_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Thu Apr 7 16:05:24 2016</created>
+        <modified>Thu Apr 7 16:05:24 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="144">-0.0233805 0.0458868 -0.008 -0.0497177 -0.0134311 0.0187417 0.055 -0.0328774 -0.049 0.055 -0.0328774 -0.015 0.160975 0.0185 0.00585181 0.158511 0.076 0.00876188 0.175541 0.076 -0.0187704 0.176093 0.019 -0.0406678 0.175541 0.076 -0.0432296 0.0724895 0.0175 -0.0381867 0.0796442 0.0185 -0.0553947 0.145 0.0861179 -0.0664869 0.158511 0.076 -0.0707619 0.160529 0.087459 -0.0250202 0.059 0.0589651 -0.053 0.0840397 -0.0165518 0.00960628 0.052 -0.0379219 -0.012 -0.0438526 0.0190167 0.0242634 0.0351583 -0.0515 0.0308095 0.0748004 -0.0264211 -0.053 0.0751007 -0.0239885 -0.0131377 0.052 0.0534118 -0.012 0.0874382 0.0175 0.00752302 0.136626 0.076 0.0196837 0.122556 0.019 0.0209425 0.17412 0.0185 -0.0155243 0.159247 0.0185 -0.0694625 0.128492 0.076 -0.0828826 0.120177 0.019 -0.0827759 0.0944881 0.0733357 -0.0731073 0.0576163 -0.038805 -0.00881482 -0.0515 -1.67638e-08 -0.008 -0.0233805 -0.0458869 -0.008 -0.0441048 -0.0224725 -0.0114641 0.0351583 -0.0515 -0.008 0.055 0.0577859 -0.049 0.0399666 0.0512325 -0.01 7.45058e-09 0.0475 -0.012 0.0773997 0.074 -0.0510736 0.055 0.0577859 -0.015 -0.0328366 0.0396738 0.0232528 0.00980447 -0.0224887 0.038 0.0683718 -0.0310542 0.0327735 0.10084 0.056 0.0150469 0.0740075 0.0559561 0.0239338 0.0791341 0.074827 0.02135 0.037091 0.0515 0.0308095 0.00316839 0.047001 0.0357843</float_array>
+                    <technique_common>
+                        <accessor count="48" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-normals" name="normal">
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+                    <technique_common>
+                        <accessor count="92" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="92">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <p>45 0 11 0 38 0 47 1 0 1 40 1 40 2 0 2 31 2 40 3 31 3 17 3 17 4 31 4 1 4 1 5 31 5 33 5 33 6 32 6 1 6 1 7 32 7 18 7 18 8 32 8 34 8 35 9 2 9 39 9 39 10 2 10 3 10 4 11 5 11 23 11 24 12 23 12 43 12 4 13 6 13 5 13 8 14 6 14 7 14 8 15 7 15 26 15 8 16 26 16 12 16 29 17 38 17 11 17 24 18 9 18 10 18 25 19 10 19 28 19 10 20 25 20 4 20 10 21 4 21 24 21 25 22 28 22 26 22 29 23 11 23 27 23 11 24 12 24 27 24 8 25 12 25 11 25 6 26 8 26 13 26 13 27 5 27 6 27 13 28 23 28 5 28 10 29 19 29 14 29 22 30 43 30 44 30 15 31 22 31 44 31 37 32 21 32 16 32 31 33 37 33 33 33 37 34 16 34 33 34 47 35 17 35 41 35 18 36 30 36 42 36 19 37 20 37 30 37 38 38 10 38 14 38 29 39 10 39 38 39 16 40 21 40 3 40 3 41 21 41 39 41 9 42 24 42 22 42 22 43 20 43 9 43 10 44 9 44 19 44 4 45 23 45 24 45 25 46 6 46 4 46 25 47 7 47 6 47 25 48 26 48 7 48 26 49 27 49 12 49 27 50 26 50 28 50 28 51 29 51 27 51 28 52 10 52 29 52 20 53 22 53 15 53 18 54 34 54 30 54 9 55 20 55 19 55 16 56 30 56 34 56 30 57 16 57 3 57 33 58 16 58 34 58 2 59 19 59 30 59 30 60 3 60 2 60 0 61 37 61 31 61 37 62 0 62 47 62 32 63 33 63 34 63 2 64 35 64 14 64 19 65 2 65 14 65 35 66 38 66 14 66 36 67 37 67 47 67 36 68 47 68 46 68 45 69 38 69 36 69 45 70 36 70 46 70 38 71 21 71 36 71 36 72 21 72 37 72 38 73 35 73 39 73 38 74 39 74 21 74 1 75 41 75 17 75 40 76 17 76 47 76 18 77 41 77 1 77 41 78 18 78 42 78 42 79 30 79 15 79 42 80 15 80 44 80 44 81 43 81 45 81 45 82 43 82 23 82 46 83 44 83 45 83 11 84 45 84 13 84 13 85 8 85 11 85 13 86 45 86 23 86 24 87 43 87 22 87 15 88 30 88 20 88 42 89 44 89 46 89 42 90 46 90 47 90 41 91 42 91 47 91</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/arm/arm_1_color.png b/tiago_description/meshes/arm/arm_1_color.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc6aa05727fc7b0734e9acc47630a37998d7cccb
Binary files /dev/null and b/tiago_description/meshes/arm/arm_1_color.png differ
diff --git a/tiago_description/meshes/arm/arm_1_normals.png b/tiago_description/meshes/arm/arm_1_normals.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed24c048fc761a6052c0c080fb4bab1666f96b90
Binary files /dev/null and b/tiago_description/meshes/arm/arm_1_normals.png differ
diff --git a/tiago_description/meshes/arm/arm_1_specular.png b/tiago_description/meshes/arm/arm_1_specular.png
new file mode 100644
index 0000000000000000000000000000000000000000..70a875c5c96f31d5c9101bf8c3cbdbf56869244e
Binary files /dev/null and b/tiago_description/meshes/arm/arm_1_specular.png differ
diff --git a/tiago_description/meshes/arm/arm_2.stl b/tiago_description/meshes/arm/arm_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..65518489e87509ec05780b8e68da9b670f70c3be
Binary files /dev/null and b/tiago_description/meshes/arm/arm_2.stl differ
diff --git a/tiago_description/meshes/arm/arm_2_collision.dae b/tiago_description/meshes/arm/arm_2_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..32176b78c3c4d585c79a85492ae36c49f7c0bee7
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_2_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Thu Apr 7 16:05:03 2016</created>
+        <modified>Thu Apr 7 16:05:03 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="201">0.0790714 0.0340399 -0.0379478 0.046192 -0.00553625 0.0500064 -0.0415675 0.0308259 -0.00100001 -0.0183665 0.0486484 0.0465322 -0.0254094 0.0453692 -0.000749996 -0.0514682 -0.00741768 -0.000750011 -0.0508986 0.009349 -0.00100001 -0.0519723 -0.00169806 0.0465316 0.0330331 0.0436352 -0.0441172 0.0785 -0.00394362 -0.0513442 0.0539507 0.00106493 -0.051007 0.0790714 -0.0340399 -0.0379478 0.0790714 0.0167009 -0.0484919 0.0450286 0.0281155 -0.0483187 0.00344997 -0.0456581 0.0511011 0.0169369 -0.00498153 0.0553114 0.00945542 -0.0451433 0.0499098 -0.0352768 -0.0291835 0.0511892 -0.0186218 -0.0418253 0.0511892 -0.0455765 -0.0250356 0.0465315 0.0298519 -0.0437929 -0.0401425 0.0381466 -0.037945 -0.0468645 -0.0476787 -0.0207543 -0.000750022 -0.0245497 -0.0458401 -0.000750024 -0.0404998 -0.0326155 -0.000750023 -0.0249186 -0.0456406 0.0465312 -0.036689 -0.0368499 0.0465314 -0.0115641 -0.0506979 -0.000750024 0.0164269 -0.0497038 0.044518 0.0785 -0.0415735 0.0262785 -0.0406583 0.0324177 0.0465318 -0.0312138 0.0415546 0.046532 -0.0428994 0.0172806 0.0507671 -0.0493871 0.0162761 0.0465316 -0.0462488 0.000154256 0.0507669 -0.0082722 -0.00410637 0.0562867 0.0242056 0.049146 -0.0347566 -0.00540838 0.0514671 -0.000999996 0.0785 0.0490393 0.0082545 0.0785 0.0483303 -0.0143132 0.00487919 0.0516377 -0.000468955 0.00737906 0.0456527 0.0505432 0.00120363 0.0457671 0.0511911 0.00121716 0.0457669 0.0511911 -0.00745213 0.0456447 0.0507692 -0.00474284 0.0517832 0.0465324 0.011641 0.0483479 0.0495314 0.0587081 -0.049681 -0.000834584 0.025264 -0.0487912 -0.0333408 0.0790714 -0.048022 -0.0149552 -0.00467943 -0.051535 -0.00100002 0.0785 -0.0490393 0.0082545 -0.0018139 -0.0519568 0.046531 0.0790714 0.0167009 0.0454919 0.0790714 -0.0229441 0.0427801 -0.0276807 0.0364679 0.0511892 -0.0231498 0.0402803 0.0510092 0.00330732 0.0229896 0.0551354 -0.0326132 0.0332251 0.0510057 -0.0383972 0.0249355 0.0511892 0.0815 -0.0114919 0.0428842 0.0815 0.0458478 -0.00149999 0.0815 0.0315876 0.0317301 0.0815 0.0376302 -0.0276914 0.0815 -0.0201911 -0.0426623 0.0815 -0.0437452 -0.0152251 0.0815 -0.0347874 0.028364</float_array>
+                    <technique_common>
+                        <accessor count="67" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
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diff --git a/tiago_description/meshes/arm/arm_3_collision.dae b/tiago_description/meshes/arm/arm_3_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6ca960b0ec1c59951cad7d1f9eb534ed4e092e82
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+++ b/tiago_description/meshes/arm/arm_3_collision.dae
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new file mode 100644
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+        <up_axis>Y_UP</up_axis>
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+        <modified>Fri Apr 8 11:29:47 2016</modified>
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diff --git a/tiago_description/meshes/arm/arm_4_collision.stl b/tiago_description/meshes/arm/arm_4_collision.stl
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diff --git a/tiago_description/meshes/arm/arm_4_specular.png b/tiago_description/meshes/arm/arm_4_specular.png
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diff --git a/tiago_description/meshes/arm/arm_5.stl b/tiago_description/meshes/arm/arm_5.stl
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diff --git a/tiago_description/meshes/arm/arm_5_collision.dae b/tiago_description/meshes/arm/arm_5_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..24c4d5e23c18c333acef014447f72671a448887b
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_5_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
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+        <up_axis>Y_UP</up_axis>
+        <created>Fri Apr 8 11:36:03 2016</created>
+        <modified>Fri Apr 8 11:36:03 2016</modified>
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+    <library_materials/>
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+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/arm/arm_6.stl b/tiago_description/meshes/arm/arm_6.stl
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diff --git a/tiago_description/meshes/arm/arm_6_collision.dae b/tiago_description/meshes/arm/arm_6_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..5c60e1344787cd202b0ad59702137df69f8bda16
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_6_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fri Apr 8 14:02:14 2016</created>
+        <modified>Fri Apr 8 14:02:14 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
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+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
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+            </mesh>
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+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
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+                    <bind_material>
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+    <scene>
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diff --git a/tiago_description/meshes/head/head_1.stl b/tiago_description/meshes/head/head_1.stl
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diff --git a/tiago_description/meshes/head/head_1_collision.dae b/tiago_description/meshes/head/head_1_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..08cac68659733f47fbf87177d0a1106afa41ebd4
--- /dev/null
+++ b/tiago_description/meshes/head/head_1_collision.dae
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+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Tue Apr 5 14:17:37 2016</created>
+        <modified>Tue Apr 5 14:17:37 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/head/head_2.stl b/tiago_description/meshes/head/head_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c0c6a15037ad73302044be79b4b813b06629b8f3
Binary files /dev/null and b/tiago_description/meshes/head/head_2.stl differ
diff --git a/tiago_description/meshes/head/head_2_collision.dae b/tiago_description/meshes/head/head_2_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6d074851f049f04e6943c0b62d9017a70775202d
--- /dev/null
+++ b/tiago_description/meshes/head/head_2_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Wed Apr 6 09:54:57 2016</created>
+        <modified>Wed Apr 6 09:54:57 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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diff --git a/tiago_description/meshes/pmb2/wheels/wheel.stl b/tiago_description/meshes/pmb2/wheels/wheel.stl
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diff --git a/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
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index 0000000000000000000000000000000000000000..506f3cd28767a88aab9361334cb9fad40cffa884
--- /dev/null
+++ b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
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+                    <technique_common>
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+                            <param name="U" type="float"/>
+                            <param name="V" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="material0" target="#material0">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
new file mode 100644
index 0000000000000000000000000000000000000000..b51bb875aa5033c1836c972463ec9379237debe8
Binary files /dev/null and b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png differ
diff --git a/tiago_description/meshes/torso/torso_fix.stl b/tiago_description/meshes/torso/torso_fix.stl
new file mode 100644
index 0000000000000000000000000000000000000000..316042010354ddbf00a953f013c1b1ec508d89f0
Binary files /dev/null and b/tiago_description/meshes/torso/torso_fix.stl differ
diff --git a/tiago_description/meshes/torso/torso_lift_collision.dae b/tiago_description/meshes/torso/torso_lift_collision.dae
new file mode 100644
index 0000000000000000000000000000000000000000..c3b044ed17eb1f7ed4168fdf9ddaa6c217a54942
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fri Apr 8 14:11:59 2016</created>
+        <modified>Fri Apr 8 14:11:59 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
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diff --git a/tiago_description/meshes/torso/torso_lift_collision_core.dae b/tiago_description/meshes/torso/torso_lift_collision_core.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6a8aed2395835c8efdf01e3585c9c847abf60991
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision_core.dae
@@ -0,0 +1,63 @@
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diff --git a/tiago_description/meshes/torso/torso_lift_collision_neck.dae b/tiago_description/meshes/torso/torso_lift_collision_neck.dae
new file mode 100644
index 0000000000000000000000000000000000000000..749a01867329d18aa0d6302a807b60f12aa195f2
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision_neck.dae
@@ -0,0 +1,63 @@
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diff --git a/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae b/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
new file mode 100644
index 0000000000000000000000000000000000000000..9fe7d95cc79210828d4d0c1167cc28d69181cace
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
@@ -0,0 +1,63 @@
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+        <modified>Tue Jul 31 14:55:55 2018</modified>
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+                    <float_array id="shape0-lib-normals-array" count="432">0 0.0124964 -0.999922 -7.43109e-06 0.0124542 -0.999922 -2.57047e-06 0.0124676 -0.999922 1.88224e-05 0.0125047 -0.999922 4.21713e-05 0.0125325 -0.999922 -4.35612e-05 0.0124606 -0.999922 -3.93614e-05 0.012463 -0.999922 1.22739e-05 0.0124818 -0.999922 6.19916e-05 0.0124905 -0.999922 -6.19916e-05 0.0124905 -0.999922 -1.22739e-05 0.0124818 -0.999922 3.93575e-05 0.012463 -0.999922 4.35648e-05 0.0124605 -0.999922 -4.21713e-05 0.0125325 -0.999922 -1.88224e-05 0.0125047 -0.999922 2.57047e-06 0.0124676 -0.999922 7.43109e-06 0.0124542 -0.999922 0 0.0124964 -0.999922 0 0.0124963 -0.999922 -6.87035e-06 0.0124574 -0.999922 3.33264e-05 0.0125678 -0.999921 -5.1577e-05 0.0124208 -0.999923 4.21678e-05 0.0125325 -0.999921 -4.11613e-05 0.0124626 -0.999922 4.98412e-05 0.0125151 -0.999922 1.0407e-05 0.0125007 -0.999922 -4.44439e-05 0.0124911 -0.999922 4.44439e-05 0.0124911 -0.999922 -1.0407e-05 0.0125007 -0.999922 -4.98461e-05 0.0125151 -0.999922 4.1158e-05 0.0124626 -0.999922 -4.21679e-05 0.0125325 -0.999922 5.1577e-05 0.0124208 -0.999923 -3.33265e-05 0.0125678 -0.999921 6.87035e-06 0.0124574 -0.999922 0 0.0124963 -0.999922 0 -0.0124964 0.999922 7.16899e-06 -0.0124558 0.999922 2.79863e-06 -0.0124678 0.999922 -1.77355e-05 -0.0125034 0.999922 -4.21679e-05 -0.0125325 0.999922 4.11684e-05 -0.0124626 0.999922 4.08385e-05 -0.0124627 0.999922 -1.20788e-05 -0.012482 0.999922 -6.36357e-05 -0.0124911 0.999922 6.36357e-05 -0.0124911 0.999922 1.20788e-05 -0.012482 0.999922 -4.08345e-05 -0.0124627 0.999922 -4.11718e-05 -0.0124626 0.999922 4.21679e-05 -0.0125325 0.999922 1.77356e-05 -0.0125034 0.999922 -2.79863e-06 -0.0124678 0.999922 -7.169e-06 -0.0124558 0.999922 0 -0.0124964 0.999922 0 -0.0124963 0.999922 6.89205e-06 -0.0124573 0.999922 -3.23201e-05 -0.012565 0.999921 4.95656e-05 -0.0124232 0.999923 -4.20839e-05 -0.0125324 0.999922 4.11578e-05 -0.0124625 0.999922 -4.99668e-05 -0.0125151 0.999922 -8.93722e-06 -0.0125002 0.999922 4.28835e-05 -0.0124911 0.999922 -4.28835e-05 -0.0124911 0.999922 8.93722e-06 -0.0125002 0.999922 4.99717e-05 -0.0125151 0.999922 -4.11544e-05 -0.0124625 0.999922 4.20839e-05 -0.0125324 0.999922 -4.95656e-05 -0.0124232 0.999923 3.23201e-05 -0.012565 0.999921 -6.89205e-06 -0.0124573 0.999922 0 -0.0124963 0.999922 0.996196 -0.0871289 -0.00149261 0.996196 -0.0871286 -0.00149256 0.965927 -0.258775 -0.00443297 0.965927 -0.258775 -0.00443297 0.906301 -0.422571 -0.00723889 0.906302 -0.422568 -0.00723857 0.819148 -0.573498 -0.00982399 0.819145 -0.573502 -0.00982468 0.707068 -0.707042 -0.0121123 0.707068 -0.707042 -0.0121123 0.573544 -0.819055 -0.0140312 0.573543 -0.819055 -0.0140313 0.42263 -0.906169 -0.0155236 0.422639 -0.906165 -0.0155226 0.258812 -0.965786 -0.0165439 0.258802 -0.965789 -0.0165449 0.0871466 -0.996049 -0.0170633 0.0871567 -0.996049 -0.0170623 -0.0871467 -0.996049 -0.0170623 -0.0871567 -0.996048 -0.0170633 -0.258812 -0.965786 -0.0165449 -0.258802 -0.965789 -0.0165439 -0.42259 -0.906188 -0.015523 -0.422599 -0.906184 -0.0155239 -0.573593 -0.81902 -0.0140307 -0.573593 -0.81902 -0.0140306 -0.707068 -0.707042 -0.0121123 -0.707068 -0.707042 -0.0121123 -0.819149 -0.573497 -0.00982459 -0.819145 -0.573502 -0.00982406 -0.9063 -0.422572 -0.00723864 -0.906302 -0.42257 -0.00723887 -0.965928 -0.258774 -0.00443296 -0.965928 -0.258774 -0.00443296 -0.996192 -0.0871715 -0.0014933 -0.996192 -0.0871711 -0.00149333 -0.996192 0.0871707 0.00149332 -0.996192 0.0871707 0.00149332 -0.965928 0.258773 0.00443304 -0.965927 0.258776 0.00443282 -0.9063 0.422573 0.00723867 -0.906302 0.422569 0.00723904 -0.819145 0.573503 0.00982469 -0.819145 0.573503 0.00982468 -0.707073 0.707036 0.0121122 -0.707068 0.707042 0.0121116 -0.573593 0.81902 0.0140298 -0.573593 0.819021 0.0140297 -0.422592 0.906187 0.0155229 -0.422601 0.906183 0.0155238 -0.258803 0.965789 0.0165449 -0.258803 0.965788 0.0165449 -0.0871545 0.996049 0.0170633 -0.0871545 0.996049 0.0170633 0.0871545 0.996049 0.0170633 0.0871545 0.996049 0.0170633 0.258803 0.965788 0.0165449 0.258803 0.965789 0.0165449 0.422632 0.906169 0.0155236 0.422641 0.906165 0.0155225 0.573544 0.819055 0.0140303 0.573543 0.819055 0.0140304 0.707073 0.707036 0.0121115 0.707068 0.707042 0.0121123 0.819144 0.573503 0.00982469 0.819144 0.573503 0.0098247 0.906301 0.422572 0.00723908 0.906302 0.422568 0.00723858 0.965928 0.258774 0.00443279 0.965927 0.258776 0.0044331 0.996196 0.0871282 0.00149259 0.996196 0.0871282 0.00149259</float_array>
+                    <technique_common>
+                        <accessor count="144" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="144">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <p>8 0 10 0 11 0 8 1 11 1 12 1 8 2 12 2 13 2 8 3 13 3 14 3 8 4 14 4 15 4 8 5 15 5 16 5 8 6 16 6 17 6 8 7 17 7 18 7 8 8 18 8 19 8 8 9 19 9 20 9 8 10 20 10 21 10 8 11 21 11 22 11 8 12 22 12 23 12 8 13 23 13 24 13 8 14 24 14 25 14 8 15 25 15 26 15 8 16 26 16 27 16 8 17 27 17 28 17 8 18 28 18 29 18 8 19 29 19 30 19 8 20 30 20 31 20 8 21 31 21 32 21 8 22 32 22 33 22 8 23 33 23 34 23 8 24 34 24 35 24 8 25 35 25 36 25 8 26 36 26 37 26 8 27 37 27 38 27 8 28 38 28 39 28 8 29 39 29 40 29 8 30 40 30 41 30 8 31 41 31 42 31 8 32 42 32 43 32 8 33 43 33 44 33 8 34 44 34 45 34 8 35 45 35 10 35 9 36 47 36 46 36 9 37 48 37 47 37 9 38 49 38 48 38 9 39 50 39 49 39 9 40 51 40 50 40 9 41 52 41 51 41 9 42 53 42 52 42 9 43 54 43 53 43 9 44 55 44 54 44 9 45 56 45 55 45 9 46 57 46 56 46 9 47 58 47 57 47 9 48 59 48 58 48 9 49 60 49 59 49 9 50 61 50 60 50 9 51 62 51 61 51 9 52 63 52 62 52 9 53 64 53 63 53 9 54 65 54 64 54 9 55 66 55 65 55 9 56 67 56 66 56 9 57 68 57 67 57 9 58 69 58 68 58 9 59 70 59 69 59 9 60 71 60 70 60 9 61 72 61 71 61 9 62 73 62 72 62 9 63 74 63 73 63 9 64 75 64 74 64 9 65 76 65 75 65 9 66 77 66 76 66 9 67 78 67 77 67 9 68 79 68 78 68 9 69 80 69 79 69 9 70 81 70 80 70 9 71 46 71 81 71 10 72 46 72 47 72 10 73 47 73 11 73 11 74 47 74 48 74 11 75 48 75 12 75 12 76 48 76 49 76 12 77 49 77 13 77 13 78 49 78 50 78 13 79 50 79 14 79 14 80 50 80 51 80 14 81 51 81 15 81 15 82 51 82 52 82 15 83 52 83 16 83 16 84 52 84 53 84 16 85 53 85 17 85 17 86 53 86 54 86 17 87 54 87 18 87 18 88 54 88 55 88 18 89 55 89 19 89 19 90 55 90 56 90 19 91 56 91 20 91 20 92 56 92 57 92 20 93 57 93 21 93 21 94 57 94 58 94 21 95 58 95 22 95 22 96 58 96 59 96 22 97 59 97 23 97 23 98 59 98 60 98 23 99 60 99 24 99 24 100 60 100 61 100 24 101 61 101 25 101 25 102 61 102 62 102 25 103 62 103 26 103 26 104 62 104 63 104 26 105 63 105 27 105 27 106 63 106 64 106 27 107 64 107 28 107 28 108 64 108 65 108 28 109 65 109 29 109 29 110 65 110 66 110 29 111 66 111 30 111 30 112 66 112 67 112 30 113 67 113 31 113 31 114 67 114 68 114 31 115 68 115 32 115 32 116 68 116 69 116 32 117 69 117 33 117 33 118 69 118 70 118 33 119 70 119 34 119 34 120 70 120 71 120 34 121 71 121 35 121 35 122 71 122 72 122 35 123 72 123 36 123 36 124 72 124 73 124 36 125 73 125 37 125 37 126 73 126 74 126 37 127 74 127 38 127 38 128 74 128 75 128 38 129 75 129 39 129 39 130 75 130 76 130 39 131 76 131 40 131 40 132 76 132 77 132 40 133 77 133 41 133 41 134 77 134 78 134 41 135 78 135 42 135 42 136 78 136 79 136 42 137 79 137 43 137 43 138 79 138 80 138 43 139 80 139 44 139 44 140 80 140 81 140 44 141 81 141 45 141 45 142 81 142 46 142 45 143 46 143 10 143</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/torso/torso_lift_with_arm.stl b/tiago_description/meshes/torso/torso_lift_with_arm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..187ea47b8ff2e1a2f92cf039cd87d889ed73a3f7
Binary files /dev/null and b/tiago_description/meshes/torso/torso_lift_with_arm.stl differ
diff --git a/tiago_description/meshes/torso/torso_lift_without_arm.stl b/tiago_description/meshes/torso/torso_lift_without_arm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..56fcc78eae1457ec593dee750ddcef14b3740740
Binary files /dev/null and b/tiago_description/meshes/torso/torso_lift_without_arm.stl differ
diff --git a/tiago_description/robots/tiago.urdf b/tiago_description/robots/tiago.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fdf805531c77864de43db1a4b5d7c3faa61044a4
--- /dev/null
+++ b/tiago_description/robots/tiago.urdf
@@ -0,0 +1,3180 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from tiago.urdf.xacro               | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+  Copyright (c) 2011, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="tiago" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="Hey5DarkGrey">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <!--TODO: Check-->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <ns/>
+      <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+      <robotNamespace/>
+      <controlPeriod>0.001</controlPeriod>
+    </plugin>
+    <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d">
+      <bodyName>base_link</bodyName>
+      <topicName>ground_truth_odom</topicName>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+      <frameName>base_footprint</frameName>
+      <topicName>floating_base_pose_simulated</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo reference="base_imu_link">
+    <!-- this is expected to be reparented to pelvis with appropriate offset
+         when imu_link is reduced by fixed joint reduction -->
+    <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+    <sensor name="imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise parameters from Boston Dynamics
+               (http://gazebosim.org/wiki/Sensor_noise):
+                 rates (rad/s): mean=0, stddev=2e-4
+                 accels (m/s/s): mean=0, stddev=1.7e-2
+                 rate bias (rad/s): 5e-6 - 1e-5
+                 accel bias (m/s/s): 1e-1
+               Experimentally, simulation provide rates with noise of
+               about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+               So we don't expect to see the noise unless number of inner iterations
+               are increased.
+
+               We will add bias.  In this model, bias is sampled once for rates
+               and once for accels at startup; the sign (negative or positive)
+               of each bias is then switched with equal probability.  Thereafter,
+               the biases are fixed additive offsets.  We choose
+               bias means and stddevs to produce biases close to the provided
+               data. -->
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="LightGrey">
+    <color rgba="0.9 0.9 0.9 1.0"/>
+  </material>
+  <material name="DarkGrey">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.96 0.88 0.14 1.0"/>
+  </material>
+  <!-- Base -->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00000106 0.00000109 0.0000387"/>
+      <mass value="28.26649"/>
+      <inertia ixx="0.465408937" ixy="0.002160024" ixz="-0.001760255" iyy="0.483193291" iyz="-0.000655952" izz="0.550939703"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+      </geometry>
+      <material name="White"/>
+    </collision>
+  </link>
+  <gazebo reference="base_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <!-- Base footprint -->
+  <link name="base_footprint"/>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.0985"/>
+    <child link="base_link"/>
+    <parent link="base_footprint"/>
+  </joint>
+  <link name="base_cover_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.22414000000 0.00002000000 0.04681000000"/>
+      <mass value="0.25821000000"/>
+      <inertia ixx="0.00023719188" ixy="0.00000006119" ixz="-0.00000011799" iyy="0.00028335052" iyz="0.00000000774" izz="0.00038497063"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+  </link>
+  <joint name="cover_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_cover_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.13"/>
+  </joint>
+  <gazebo reference="base_cover_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <link name="base_antenna_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.085"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.005"/>
+      </geometry>
+      <material name="Black"/>
+    </collision>
+  </link>
+  <gazebo reference="base_antenna_left_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="base_antenna_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_antenna_left_link"/>
+    <origin rpy="0 0 0" xyz="-0.201 0.1062 0.195"/>
+  </joint>
+  <link name="base_antenna_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.085"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.005"/>
+      </geometry>
+      <material name="Black"/>
+    </collision>
+  </link>
+  <gazebo reference="base_antenna_right_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="base_antenna_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_antenna_right_link"/>
+    <origin rpy="0 0 0" xyz="-0.201 -0.1062 0.195"/>
+  </joint>
+  <link name="base_imu_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+    </inertial>
+    <!--visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="0.01 0.01 0.01"/>
+        </geometry>
+      </visual-->
+  </link>
+  <joint name="base_imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_imu_link"/>
+    <origin rpy="0 3.14159265359 1.57079632679" xyz="0.10171 0 0.11282"/>
+  </joint>
+  <gazebo reference="base_imu_link">
+    <sensor name="base_imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <link name="wheel_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.00207"/>
+      <mass value="1.82362"/>
+      <inertia ixx="0.00499743171" ixy="4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="-1.64e-09" izz="0.00839239692"/>
+    </inertial>
+    <visual>
+      <origin rpy="-0.0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.0985"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 -0.2022 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.0" velocity="10.152284264"/>
+  </joint>
+  <transmission name="wheel_right_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="wheel_right_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="wheel_right_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Contact model for the wheel surface -->
+  <gazebo reference="wheel_right_link">
+    <!--
+      <kp>1000000.0</kp>
+      <kd>100.0</kd>
+      <mu1>1.0</mu1>
+      <mu2>1.0</mu2>
+      <fdir1>1 0 0</fdir1>
+      <maxVel>1.0</maxVel>
+      <minDepth>0.00</minDepth>
+      <implicitSpringDamper>1</implicitSpringDamper>
+-->
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="wheel_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.00207"/>
+      <mass value="1.82362"/>
+      <inertia ixx="0.00499743171" ixy="-4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="1.64e-09" izz="0.00839239692"/>
+    </inertial>
+    <visual>
+      <origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.0985"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0.2022 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.0" velocity="10.152284264"/>
+  </joint>
+  <transmission name="wheel_left_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="wheel_left_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="wheel_left_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Contact model for the wheel surface -->
+  <gazebo reference="wheel_left_link">
+    <!--
+      <kp>1000000.0</kp>
+      <kd>100.0</kd>
+      <mu1>1.0</mu1>
+      <mu2>1.0</mu2>
+      <fdir1>1 0 0</fdir1>
+      <maxVel>1.0</maxVel>
+      <minDepth>0.00</minDepth>
+      <implicitSpringDamper>1</implicitSpringDamper>
+-->
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_front_right_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_front_right_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_front_right_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_front_right_1_link"/>
+    <origin rpy="0 0 0" xyz="0.1695 -0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_front_right_2_joint" type="fixed">
+    <parent link="caster_front_right_1_link"/>
+    <child link="caster_front_right_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_front_right_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_front_right_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_front_left_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_front_left_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_front_left_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_front_left_1_link"/>
+    <origin rpy="0 0 0" xyz="0.1695 0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_front_left_2_joint" type="fixed">
+    <parent link="caster_front_left_1_link"/>
+    <child link="caster_front_left_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_front_left_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_front_left_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_back_right_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_back_right_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_back_right_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_right_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.1735 -0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_back_right_2_joint" type="fixed">
+    <parent link="caster_back_right_1_link"/>
+    <child link="caster_back_right_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_back_right_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_back_right_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_back_left_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_back_left_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_back_left_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_left_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.1735 0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_back_left_2_joint" type="fixed">
+    <parent link="caster_back_left_1_link"/>
+    <child link="caster_back_left_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_back_left_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_back_left_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <!-- Bottom fixed part of column -->
+  <link name="torso_fixed_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.02435 -0.00464 0.15900"/>
+      <mass value="14.01360"/>
+      <inertia ixx="0.38341100000" ixy="0.00036400000" ixz="-0.02438900000" iyy="0.40577300000" iyz="-0.00078200000" izz="0.07699800000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.085 0.0 0.02"/>
+      <geometry>
+        <box size="0.4 0.25 0.04"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.05"/>
+      <geometry>
+        <box size="0.25 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.062 0.0 0.193"/>
+    <parent link="base_link"/>
+    <child link="torso_fixed_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <!-- Middle extending  -->
+  <link name="torso_fixed_column_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.275"/>
+      <geometry>
+        <box size="0.18 0.2 0.55"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.275"/>
+      <geometry>
+        <box size="0.23 0.23 0.55"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </collision>
+  </link>
+  <gazebo reference="torso_fixed_column_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="torso_fixed_column_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.062 0 0.195"/>
+    <parent link="base_link"/>
+    <child link="torso_fixed_column_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="torso_lift_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.04361 -0.00116 -0.17334"/>
+      <mass value="6.93198"/>
+      <inertia ixx="0.24487000000" ixy="-0.00145600000" ixz="-0.00974200000" iyy="0.24926900000" iyz="0.00828100000" izz="0.09039500000"/>
+    </inertial>
+    <!-- Lifting body -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </collision>
+  </link>
+  <joint name="torso_lift_joint" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.597"/>
+    <parent link="torso_fixed_link"/>
+    <child link="torso_lift_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2000" lower="0" upper="0.35" velocity="0.07"/>
+    <calibration rising="0.0"/>
+    <dynamics damping="1000"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.0" soft_upper_limit="0.35"/>
+  </joint>
+  <transmission name="torso_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="torso_lift_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="torso_lift_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="head_1_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00508 0.00237 0.07229"/>
+      <mass value="0.62220"/>
+      <inertia ixx="0.00119200000" ixy="-0.00000700000" ixz="0.00009600000" iyy="0.00140200000" iyz="0.00000400000" izz="0.00088900000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </collision>
+  </link>
+  <joint name="head_1_joint" type="revolute">
+    <parent link="torso_lift_link"/>
+    <child link="head_1_link"/>
+    <origin rpy="0 0 0" xyz="0.182 0.0 0.0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="5.197" lower="-1.308996939" upper="1.308996939" velocity="3.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.238996939" soft_upper_limit="1.238996939"/>
+  </joint>
+  <gazebo reference="head_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="head_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <transmission name="head_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="head_1_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="head_1_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="head_2_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.04700 0.05542 0.00022"/>
+      <mass value="0.66123"/>
+      <inertia ixx="0.00462000000" ixy="0.00068900000" ixz="0.00000600000" iyy="0.00486100000" iyz="0.00000600000" izz="0.00313200000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_2_joint" type="revolute">
+    <parent link="head_1_link"/>
+    <child link="head_2_link"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.005 0.0 0.098"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.77" lower="-1.0471975512" upper="0.785398163397" velocity="3.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.977197551197" soft_upper_limit="0.785398163397"/>
+  </joint>
+  <transmission name="head_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="head_2_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="head_2_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- frames in the center of the camera -->
+  <joint name="xtion_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 0.0" xyz="0.0908 0.08 0.0"/>
+    <parent link="head_2_link"/>
+    <child link="xtion_link"/>
+  </joint>
+  <link name="xtion_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00936000000 -0.00003000000 -0.00273000000"/>
+      <mass value="0.21970000000"/>
+      <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565" iyy="0.00000008027" iyz="0.00000000000" izz="0.00000427339"/>
+    </inertial>
+    <!--
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+        </geometry>
+        <material name="Grey">
+          <color rgba="0.5 0.5 0.5 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="-0.01 0.0025 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.04 0.185 0.03"/>
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="xtion_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_optical_frame"/>
+  </joint>
+  <link name="xtion_optical_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <!-- frames of the depth sensor -->
+  <joint name="xtion_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.047 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_depth_frame"/>
+  </joint>
+  <link name="xtion_depth_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <joint name="xtion_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_depth_frame"/>
+    <child link="xtion_depth_optical_frame"/>
+  </joint>
+  <link name="xtion_depth_optical_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <!-- frames of the rgb sensor -->
+  <joint name="xtion_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_rgb_frame"/>
+  </joint>
+  <link name="xtion_rgb_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <joint name="xtion_rgb_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_rgb_frame"/>
+    <child link="xtion_rgb_optical_frame"/>
+  </joint>
+  <link name="xtion_rgb_optical_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <gazebo reference="xtion_rgb_frame">
+    <sensor name="xtion_frame_sensor" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.09955742876</horizontal_fov>
+        <image>
+          <format>B8G8R8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.3</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_frame_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>xtion</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>depth_registered/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>depth_registered/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>depth_registered/points</pointCloudTopicName>
+        <frameName>xtion_rgb_optical_frame</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!--************************-->
+  <!--        SHOULDER        -->
+  <!--************************-->
+  <link name="arm_1_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.063989 0.022546 -0.014608"/>
+      <mass value="2.083078"/>
+      <inertia ixx="0.003003" ixy="0.002396" ixz="0.001531" iyy="0.008613" iyz="0.000588" izz="0.009348"/>
+    </inertial>
+    <!-- M90 module -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_1_joint" type="revolute">
+    <parent link="torso_lift_link"/>
+    <child link="arm_1_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="0.15505 0.014 -0.151"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39.0" lower="0.0" upper="2.74889357189" velocity="2.7"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.07" soft_upper_limit="2.67889357189"/>
+  </joint>
+  <link name="arm_2_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.035264 0.000327 0.008489"/>
+      <mass value="1.792499"/>
+      <inertia ixx="0.001683" ixy="-0.000010" ixz="-0.000387" iyy="0.004708" iyz="-0.000028" izz="0.004780"/>
+    </inertial>
+    <visual>
+      <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_2_joint" type="revolute">
+    <parent link="arm_1_link"/>
+    <child link="arm_2_link"/>
+    <origin rpy="1.57079632679 0.0 0.0" xyz="0.125 0.0165 -0.031"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39.0" lower="-1.57079632679" upper="1.0908307825" velocity="3.66"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.50079632679" soft_upper_limit="1.0208307825"/>
+  </joint>
+  <link name="arm_3_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.007956 0.005368 -0.136320"/>
+      <mass value="2.275860"/>
+      <inertia ixx="0.018178" ixy="-0.000143" ixz="0.001379" iyy="0.018552" iyz="-0.000888" izz="0.002774"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_3_joint" type="revolute">
+    <parent link="arm_2_link"/>
+    <child link="arm_3_link"/>
+    <origin rpy="-1.57079632679 0.0 1.57079632679" xyz="0.0895 0.0 0.0015"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="17.86" lower="-3.53429173529" upper="1.57079632679" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-3.46429173529" soft_upper_limit="1.50079632679"/>
+  </joint>
+  <!--************************-->
+  <!--        ELBOW           -->
+  <!--************************-->
+  <link name="arm_4_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.095658 0.014666 0.018133"/>
+      <mass value="1.892788"/>
+      <inertia ixx="0.002542" ixy="-0.000956" ixz="-0.001457" iyy="0.011789" iyz="0.000229" izz="0.012058"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_4_joint" type="revolute">
+    <parent link="arm_3_link"/>
+    <child link="arm_4_link"/>
+    <origin rpy="-1.57079632679 -1.57079632679 0.0" xyz="-0.02 -0.027 -0.222"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="17.86" lower="-0.392699081699" upper="2.35619449019" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.322699081699" soft_upper_limit="2.28619449019"/>
+  </joint>
+  <gazebo reference="arm_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <!--************************-->
+  <!--        WRIST           -->
+  <!--************************-->
+  <link name="arm_5_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00003 -0.00028 0.07831"/>
+      <mass value="1.07424"/>
+      <inertia ixx="0.00168000000" ixy="0.00000100000" ixz="-0.00001500000" iyy="0.00160300000" iyz="-0.00001900000" izz="0.00040400000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_5_joint" type="revolute">
+    <parent link="arm_4_link"/>
+    <child link="arm_5_link"/>
+    <origin rpy="0.0 -1.57079632679 0.0" xyz="-0.162 0.02 0.027"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="3" lower="-2.09439510239" upper="2.09439510239" velocity="1.95"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+  </joint>
+  <link name="arm_6_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00531 0.00021 0.00002"/>
+      <mass value="0.28722"/>
+      <inertia ixx="0.00005900000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00010600000" iyz="0.00000000000" izz="0.00012600000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_6_joint" type="revolute">
+    <parent link="arm_5_link"/>
+    <child link="arm_6_link"/>
+    <origin rpy="0.0 -1.57079632679 -1.57079632679" xyz="0 0 0.15"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.6" lower="-1.41371669412" upper="1.41371669412" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.39371669412" soft_upper_limit="1.39371669412"/>
+  </joint>
+  <link name="arm_7_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00011 -0.00034 0.02405"/>
+      <mass value="0.05935"/>
+      <inertia ixx="0.00001400000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00001400000" iyz="0.00000000000" izz="0.00000400000"/>
+    </inertial>
+  </link>
+  <joint name="arm_7_joint" type="revolute">
+    <parent link="arm_6_link"/>
+    <child link="arm_7_link"/>
+    <origin rpy="1.57079632679 0.0 1.57079632679" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.6" lower="-2.09439510239" upper="2.09439510239" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+  </joint>
+  <gazebo reference="arm_5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_6_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_7_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_5_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_6_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_7_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <transmission name="arm_5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_5_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_5_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="wrist_trans">
+    <type>transmission_interface/DifferentialTransmission</type>
+    <actuator name="arm_6_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="arm_7_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_6_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+    </joint>
+    <joint name="arm_7_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>-1</mechanicalReduction>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+    </joint>
+  </transmission>
+  <!--***********************-->
+  <!--        TOOL           -->
+  <!--***********************-->
+  <link name="arm_tool_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.005"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_tool_joint" type="fixed">
+    <parent link="arm_7_link"/>
+    <child link="arm_tool_link"/>
+    <origin rpy="1.57079632679 -1.57079632679 3.14159265359" xyz="0 0 0.046"/>
+  </joint>
+  <transmission name="arm_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_1_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_1_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_2_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_2_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_3_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_3_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_4_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_4_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Tool Link -->
+  <link name="hand_tool_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0001"/>
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <joint name="hand_tool_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="wrist_ft_tool_link"/>
+    <child link="hand_tool_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="hand_palm_joint" type="fixed">
+    <parent link="wrist_ft_tool_link"/>
+    <child link="hand_palm_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="hand_palm_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0641 -0.0022 0.0021"/>
+      <!-- NOTE: Less than total palm mass of 0.598kg because actuator masses are specified separately -->
+      <mass value="0.4"/>
+      <inertia ixx="0.000305100" ixy="0.000005037" ixz="0.000015302" iyy="0.000811920" iyz="0.000007622" izz="0.000655851"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_palm_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_thumb_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_thumb_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-2.61799387799" upper="6.28318530718" velocity="3.35"/>
+    <dynamics damping="0.5" friction="0.0"/>
+    <!-- TODO: Tune -->
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.61799387799" soft_upper_limit="6.28318530718"/>
+  </joint>
+  <link name="hand_thumb_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.05"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!--To stabilize simulation-->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <transmission name="hand_thumb_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="hand_thumb_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="hand_thumb_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <joint name="hand_index_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_index_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-3.05432619099" upper="6.80678408278" velocity="3.35"/>
+    <dynamics damping="0.5" friction="0.0"/>
+    <!-- TODO: Tune -->
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-3.05432619099" soft_upper_limit="6.80678408278"/>
+  </joint>
+  <link name="hand_index_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.05"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!--To stabilize simulation-->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <transmission name="hand_index_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="hand_index_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <joint name="hand_mrl_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_mrl_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-2.53072741539" upper="9.25024503557" velocity="3.56"/>
+    <dynamics damping="0.5" friction="0.0"/>
+    <!-- TODO: Tune -->
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.53072741539" soft_upper_limit="9.25024503557"/>
+  </joint>
+  <link name="hand_mrl_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.05"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!--To stabilize simulation-->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <transmission name="hand_mrl_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="hand_mrl_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <joint name="hand_thumb_abd_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_thumb_abd_link"/>
+    <origin rpy="0 -1.1344640138 0" xyz="0.0901 0.0134 0.038"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_thumb_abd_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0132 0.0037 -0.0017"/>
+      <mass value="0.014"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_thumb_abd_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_thumb_virtual_1_joint" type="revolute">
+    <parent link="hand_thumb_abd_link"/>
+    <child link="hand_thumb_virtual_1_link"/>
+    <origin rpy="-1.14423785761 0 0" xyz="0.0225 0.003 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_thumb_virtual_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_thumb_virtual_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_thumb_flex_1_joint" type="revolute">
+    <parent link="hand_thumb_virtual_1_link"/>
+    <child link="hand_thumb_flex_1_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_thumb_flex_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_thumb_flex_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_thumb_virtual_2_joint" type="revolute">
+    <parent link="hand_thumb_flex_1_link"/>
+    <child link="hand_thumb_virtual_2_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_thumb_virtual_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_thumb_virtual_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_thumb_flex_2_joint" type="revolute">
+    <parent link="hand_thumb_virtual_2_link"/>
+    <child link="hand_thumb_flex_2_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_thumb_flex_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+      <mass value="0.015"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_thumb_flex_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_abd_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_index_abd_link"/>
+    <origin rpy="-1.57079632679 -0.523598775598 0" xyz="0.1265 0.0042 0.0265"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_abd_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+      <mass value="0.018"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_abd_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_virtual_1_joint" type="revolute">
+    <parent link="hand_index_abd_link"/>
+    <child link="hand_index_virtual_1_link"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_virtual_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_virtual_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_flex_1_joint" type="revolute">
+    <parent link="hand_index_virtual_1_link"/>
+    <child link="hand_index_flex_1_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_flex_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_flex_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_virtual_2_joint" type="revolute">
+    <parent link="hand_index_flex_1_link"/>
+    <child link="hand_index_virtual_2_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_virtual_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_virtual_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_flex_2_joint" type="revolute">
+    <parent link="hand_index_virtual_2_link"/>
+    <child link="hand_index_flex_2_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_flex_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_flex_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_virtual_3_joint" type="revolute">
+    <parent link="hand_index_flex_2_link"/>
+    <child link="hand_index_virtual_3_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_virtual_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_virtual_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_index_flex_3_joint" type="revolute">
+    <parent link="hand_index_virtual_3_link"/>
+    <child link="hand_index_flex_3_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_index_flex_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+      <mass value="0.015"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_index_flex_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_abd_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_middle_abd_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0.1335 0.0042 0.007"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_abd_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+      <mass value="0.018"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_abd_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_virtual_1_joint" type="revolute">
+    <parent link="hand_middle_abd_link"/>
+    <child link="hand_middle_virtual_1_link"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_virtual_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_virtual_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_flex_1_joint" type="revolute">
+    <parent link="hand_middle_virtual_1_link"/>
+    <child link="hand_middle_flex_1_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_flex_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_flex_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_virtual_2_joint" type="revolute">
+    <parent link="hand_middle_flex_1_link"/>
+    <child link="hand_middle_virtual_2_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_virtual_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_virtual_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_flex_2_joint" type="revolute">
+    <parent link="hand_middle_virtual_2_link"/>
+    <child link="hand_middle_flex_2_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_flex_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_flex_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_virtual_3_joint" type="revolute">
+    <parent link="hand_middle_flex_2_link"/>
+    <child link="hand_middle_virtual_3_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_virtual_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_virtual_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_middle_flex_3_joint" type="revolute">
+    <parent link="hand_middle_virtual_3_link"/>
+    <child link="hand_middle_flex_3_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_middle_flex_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+      <mass value="0.015"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_middle_flex_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_abd_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_ring_abd_link"/>
+    <origin rpy="-1.57079632679 0.261799387799 0" xyz="0.1265 0.0042 -0.0125"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_abd_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+      <mass value="0.018"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_abd_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_virtual_1_joint" type="revolute">
+    <parent link="hand_ring_abd_link"/>
+    <child link="hand_ring_virtual_1_link"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_virtual_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_virtual_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_flex_1_joint" type="revolute">
+    <parent link="hand_ring_virtual_1_link"/>
+    <child link="hand_ring_flex_1_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_flex_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_flex_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_virtual_2_joint" type="revolute">
+    <parent link="hand_ring_flex_1_link"/>
+    <child link="hand_ring_virtual_2_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_virtual_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_virtual_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_flex_2_joint" type="revolute">
+    <parent link="hand_ring_virtual_2_link"/>
+    <child link="hand_ring_flex_2_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_flex_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_flex_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_virtual_3_joint" type="revolute">
+    <parent link="hand_ring_flex_2_link"/>
+    <child link="hand_ring_virtual_3_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_virtual_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_virtual_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_ring_flex_3_joint" type="revolute">
+    <parent link="hand_ring_virtual_3_link"/>
+    <child link="hand_ring_flex_3_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_ring_flex_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+      <mass value="0.015"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_ring_flex_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_abd_joint" type="revolute">
+    <parent link="hand_palm_link"/>
+    <child link="hand_little_abd_link"/>
+    <origin rpy="-1.57079632679 0.523598775598 0" xyz="0.1165 0.0042 -0.032"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_abd_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+      <mass value="0.018"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_abd_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_virtual_1_joint" type="revolute">
+    <parent link="hand_little_abd_link"/>
+    <child link="hand_little_virtual_1_link"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_virtual_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_virtual_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_flex_1_joint" type="revolute">
+    <parent link="hand_little_virtual_1_link"/>
+    <child link="hand_little_flex_1_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_flex_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_flex_1_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_virtual_2_joint" type="revolute">
+    <parent link="hand_little_flex_1_link"/>
+    <child link="hand_little_virtual_2_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_virtual_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_virtual_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_flex_2_joint" type="revolute">
+    <parent link="hand_little_virtual_2_link"/>
+    <child link="hand_little_flex_2_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_flex_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+      <mass value="0.009"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_flex_2_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_virtual_3_joint" type="revolute">
+    <parent link="hand_little_flex_2_link"/>
+    <child link="hand_little_virtual_3_link"/>
+    <origin rpy="0 0 0" xyz="0.009 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_virtual_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <mass value="0.01"/>
+      <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.013 0.002 0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_virtual_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="hand_little_flex_3_joint" type="revolute">
+    <parent link="hand_little_virtual_3_link"/>
+    <child link="hand_little_flex_3_link"/>
+    <origin rpy="0 0 0" xyz="0.013 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.5" friction="0.0"/>
+  </joint>
+  <link name="hand_little_flex_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+      <mass value="0.015"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      <!-- To stabilize simulation -->
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+      <material name="Hey5DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="hand_little_flex_3_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <!--Abductor-->
+  <transmission name="hand_thumb_abd_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_thumb_abd_joint">
+      <saturationLower>0.0</saturationLower>
+      <saturationUpper>1.57079632679</saturationUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_thumb_motor">
+      <mechanicalReduction>0.654498469498</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--First flexor-->
+  <transmission name="hand_thumb_virtual_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_thumb_virtual_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>2.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_thumb_motor">
+      <mechanicalReduction>0.162993578547</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_thumb_flex_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_thumb_flex_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>2.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_thumb_motor">
+      <mechanicalReduction>0.162993578547</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Second flexor-->
+  <transmission name="hand_thumb_virtual_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_thumb_virtual_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>2.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_thumb_motor">
+      <mechanicalReduction>0.162993578547</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_thumb_flex_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_thumb_flex_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>2.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_thumb_motor">
+      <mechanicalReduction>0.162993578547</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Abductor-->
+  <transmission name="hand_index_abd_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_abd_joint">
+      <saturationLower>0.0</saturationLower>
+      <saturationUpper>0.523598775598</saturationUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.49866550057</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--First flexor-->
+  <transmission name="hand_index_virtual_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_virtual_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.7</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.102888610798</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_index_flex_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_flex_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.7</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.102888610798</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Second flexor-->
+  <transmission name="hand_index_virtual_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_virtual_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.7</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.102888610798</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_index_flex_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_flex_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.7</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.102888610798</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Third flexor-->
+  <transmission name="hand_index_virtual_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_virtual_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.7</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.102888610798</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_index_flex_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_index_flex_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.7</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_index_motor">
+      <mechanicalReduction>0.102888610798</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Abductor-->
+  <transmission name="hand_middle_abd_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_abd_joint">
+      <saturationLower>0.0</saturationLower>
+      <saturationUpper>0.0</saturationUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--First flexor-->
+  <transmission name="hand_middle_virtual_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_virtual_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0679245283019</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_middle_flex_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_flex_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0679245283019</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Second flexor-->
+  <transmission name="hand_middle_virtual_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_virtual_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0679245283019</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_middle_flex_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_flex_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0679245283019</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Third flexor-->
+  <transmission name="hand_middle_virtual_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_virtual_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0679245283019</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_middle_flex_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_middle_flex_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.0</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0679245283019</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Abductor-->
+  <transmission name="hand_ring_abd_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_abd_joint">
+      <saturationLower>-0.261799387799</saturationLower>
+      <saturationUpper>0.0</saturationUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>-0.232710566933</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--First flexor-->
+  <transmission name="hand_ring_virtual_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_virtual_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_ring_flex_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_flex_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Second flexor-->
+  <transmission name="hand_ring_virtual_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_virtual_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_ring_flex_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_flex_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Third flexor-->
+  <transmission name="hand_ring_virtual_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_virtual_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_ring_flex_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_ring_flex_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Abductor-->
+  <transmission name="hand_little_abd_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_abd_joint">
+      <saturationLower>-0.523598775598</saturationLower>
+      <saturationUpper>0.0</saturationUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>-0.465421133865</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--First flexor-->
+  <transmission name="hand_little_virtual_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_virtual_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_little_flex_1_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_flex_1_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Second flexor-->
+  <transmission name="hand_little_virtual_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_virtual_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_little_flex_2_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_flex_2_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!--Third flexor-->
+  <transmission name="hand_little_virtual_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_virtual_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="hand_little_flex_3_trans">
+    <type>tiago_transmissions/Hey5Reducer</type>
+    <joint name="hand_little_flex_3_joint">
+      <saturationLower>0.0</saturationLower>
+      <deadBandUpper>0.75</deadBandUpper>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_mrl_motor">
+      <mechanicalReduction>0.0739176962651</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <link name="hand_grasping_frame"/>
+  <joint name="hand_grasping_fixed_joint" type="fixed">
+    <parent link="hand_palm_link"/>
+    <child link="hand_grasping_frame"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.13 0.02 0"/>
+  </joint>
+  <gazebo>
+    <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_thumb">
+      <actuatedJoint>hand_thumb_joint</actuatedJoint>
+      <virtualJoint>
+        <name>hand_thumb_abd_joint</name>
+        <scale_factor>2.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_thumb_flex_1_joint</name>
+        <scale_factor>2.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_thumb_virtual_1_joint</name>
+        <scale_factor>3.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_thumb_flex_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_thumb_virtual_2_joint</name>
+        <scale_factor>3.0</scale_factor>
+      </virtualJoint>
+    </plugin>
+    <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_index">
+      <actuatedJoint>hand_index_joint</actuatedJoint>
+      <virtualJoint>
+        <name>hand_index_abd_joint</name>
+        <scale_factor>5.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_index_flex_1_joint</name>
+        <scale_factor>2.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_index_virtual_1_joint</name>
+        <scale_factor>3.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_index_flex_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_index_virtual_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_index_flex_3_joint</name>
+        <scale_factor>4.0</scale_factor>
+      </virtualJoint>
+    </plugin>
+    <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_middle">
+      <actuatedJoint>hand_mrl_joint</actuatedJoint>
+      <virtualJoint>
+        <name>hand_middle_flex_1_joint</name>
+        <scale_factor>2.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_middle_virtual_1_joint</name>
+        <scale_factor>3.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_middle_flex_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_middle_virtual_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_middle_flex_3_joint</name>
+        <scale_factor>4.0</scale_factor>
+      </virtualJoint>
+    </plugin>
+    <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_ring">
+      <actuatedJoint>hand_mrl_joint</actuatedJoint>
+      <virtualJoint>
+        <name>hand_ring_flex_1_joint</name>
+        <scale_factor>2.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_ring_virtual_1_joint</name>
+        <scale_factor>3.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_ring_flex_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_ring_virtual_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_ring_flex_3_joint</name>
+        <scale_factor>4.0</scale_factor>
+      </virtualJoint>
+    </plugin>
+    <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_little">
+      <actuatedJoint>hand_mrl_joint</actuatedJoint>
+      <virtualJoint>
+        <name>hand_little_flex_1_joint</name>
+        <scale_factor>2.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_little_virtual_1_joint</name>
+        <scale_factor>3.0</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_little_flex_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_little_virtual_2_joint</name>
+        <scale_factor>3.5</scale_factor>
+      </virtualJoint>
+      <virtualJoint>
+        <name>hand_little_flex_3_joint</name>
+        <scale_factor>4.0</scale_factor>
+      </virtualJoint>
+    </plugin>
+  </gazebo>
+  <joint name="hand_safety_box_joint" type="fixed">
+    <parent link="wrist_ft_tool_link"/>
+    <child link="hand_safety_box"/>
+    <origin rpy="0 0 0" xyz="0.1 0.02 0.02"/>
+  </joint>
+  <link name="hand_safety_box">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <!--
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.2 0.115 0.18" />
+        </geometry>
+      </visual>
+      -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.2 0.115 0.18"/>
+      </geometry>
+    </collision>
+  </link>
+  <!--************************-->
+  <!--        ft sensor       -->
+  <!--************************-->
+  <link name="wrist_ft_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_ft_joint" type="fixed">
+    <parent link="arm_tool_link"/>
+    <child link="wrist_ft_link"/>
+    <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00785 0 0"/>
+  </joint>
+  <!--***********************-->
+  <!--       FT TOOL         -->
+  <!--***********************-->
+  <link name="wrist_ft_tool_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+      <material name="FlatBlack"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_tool_joint" type="fixed">
+    <parent link="wrist_ft_link"/>
+    <child link="wrist_ft_tool_link"/>
+    <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0 0 0.012725"/>
+  </joint>
+  <!-- RGBD Laser Link -->
+  <joint name="rgbd_laser_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="rgbd_laser_link"/>
+    <origin rpy="0 0 0" xyz="-0.9 0 0"/>
+  </joint>
+  <link name="rgbd_laser_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/tiago_description/robots/tiago_no_hand.urdf b/tiago_description/robots/tiago_no_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..acaa8d6015dc071ef9ff43c5b369b706a61dc9a9
--- /dev/null
+++ b/tiago_description/robots/tiago_no_hand.urdf
@@ -0,0 +1,1411 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from tiago.urdf.xacro               | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+  Copyright (c) 2011, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="tiago" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="Hey5DarkGrey">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <!--TODO: Check-->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <ns/>
+      <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+      <robotNamespace/>
+      <controlPeriod>0.001</controlPeriod>
+    </plugin>
+    <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d">
+      <bodyName>base_link</bodyName>
+      <topicName>ground_truth_odom</topicName>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+      <frameName>base_footprint</frameName>
+      <topicName>floating_base_pose_simulated</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo reference="base_imu_link">
+    <!-- this is expected to be reparented to pelvis with appropriate offset
+         when imu_link is reduced by fixed joint reduction -->
+    <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+    <sensor name="imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise parameters from Boston Dynamics
+               (http://gazebosim.org/wiki/Sensor_noise):
+                 rates (rad/s): mean=0, stddev=2e-4
+                 accels (m/s/s): mean=0, stddev=1.7e-2
+                 rate bias (rad/s): 5e-6 - 1e-5
+                 accel bias (m/s/s): 1e-1
+               Experimentally, simulation provide rates with noise of
+               about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+               So we don't expect to see the noise unless number of inner iterations
+               are increased.
+
+               We will add bias.  In this model, bias is sampled once for rates
+               and once for accels at startup; the sign (negative or positive)
+               of each bias is then switched with equal probability.  Thereafter,
+               the biases are fixed additive offsets.  We choose
+               bias means and stddevs to produce biases close to the provided
+               data. -->
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="LightGrey">
+    <color rgba="0.9 0.9 0.9 1.0"/>
+  </material>
+  <material name="DarkGrey">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.96 0.88 0.14 1.0"/>
+  </material>
+  <!-- Base -->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00000106 0.00000109 0.0000387"/>
+      <mass value="28.26649"/>
+      <inertia ixx="0.465408937" ixy="0.002160024" ixz="-0.001760255" iyy="0.483193291" iyz="-0.000655952" izz="0.550939703"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+      </geometry>
+      <material name="White"/>
+    </collision>
+  </link>
+  <gazebo reference="base_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <!-- Base footprint -->
+  <link name="base_footprint"/>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.0985"/>
+    <child link="base_link"/>
+    <parent link="base_footprint"/>
+  </joint>
+  <link name="base_cover_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.22414000000 0.00002000000 0.04681000000"/>
+      <mass value="0.25821000000"/>
+      <inertia ixx="0.00023719188" ixy="0.00000006119" ixz="-0.00000011799" iyy="0.00028335052" iyz="0.00000000774" izz="0.00038497063"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+      </geometry>
+      <material name="Orange"/>
+    </visual>
+  </link>
+  <joint name="cover_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_cover_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.13"/>
+  </joint>
+  <gazebo reference="base_cover_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <link name="base_antenna_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.085"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.005"/>
+      </geometry>
+      <material name="Black"/>
+    </collision>
+  </link>
+  <gazebo reference="base_antenna_left_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="base_antenna_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_antenna_left_link"/>
+    <origin rpy="0 0 0" xyz="-0.201 0.1062 0.195"/>
+  </joint>
+  <link name="base_antenna_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.085"/>
+      <geometry>
+        <cylinder length="0.17" radius="0.005"/>
+      </geometry>
+      <material name="Black"/>
+    </collision>
+  </link>
+  <gazebo reference="base_antenna_right_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <joint name="base_antenna_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_antenna_right_link"/>
+    <origin rpy="0 0 0" xyz="-0.201 -0.1062 0.195"/>
+  </joint>
+  <link name="base_imu_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+    </inertial>
+    <!--visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="0.01 0.01 0.01"/>
+        </geometry>
+      </visual-->
+  </link>
+  <joint name="base_imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_imu_link"/>
+    <origin rpy="0 3.14159265359 1.57079632679" xyz="0.10171 0 0.11282"/>
+  </joint>
+  <gazebo reference="base_imu_link">
+    <sensor name="base_imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100.0</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0.0</mean>
+            <stddev>2e-4</stddev>
+            <bias_mean>0.0000075</bias_mean>
+            <bias_stddev>0.0000008</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0.0</mean>
+            <stddev>1.7e-2</stddev>
+            <bias_mean>0.1</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+    </sensor>
+  </gazebo>
+  <link name="wheel_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.00207"/>
+      <mass value="1.82362"/>
+      <inertia ixx="0.00499743171" ixy="4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="-1.64e-09" izz="0.00839239692"/>
+    </inertial>
+    <visual>
+      <origin rpy="-0.0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.0985"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wheel_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_right_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 -0.2022 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.0" velocity="10.152284264"/>
+  </joint>
+  <transmission name="wheel_right_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="wheel_right_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="wheel_right_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Contact model for the wheel surface -->
+  <gazebo reference="wheel_right_link">
+    <!--
+      <kp>1000000.0</kp>
+      <kd>100.0</kd>
+      <mu1>1.0</mu1>
+      <mu2>1.0</mu2>
+      <fdir1>1 0 0</fdir1>
+      <maxVel>1.0</maxVel>
+      <minDepth>0.00</minDepth>
+      <implicitSpringDamper>1</implicitSpringDamper>
+-->
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="wheel_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.00207"/>
+      <mass value="1.82362"/>
+      <inertia ixx="0.00499743171" ixy="-4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="1.64e-09" izz="0.00839239692"/>
+    </inertial>
+    <visual>
+      <origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.0985"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wheel_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="wheel_left_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0.2022 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.0" velocity="10.152284264"/>
+  </joint>
+  <transmission name="wheel_left_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="wheel_left_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="wheel_left_joint">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Contact model for the wheel surface -->
+  <gazebo reference="wheel_left_link">
+    <!--
+      <kp>1000000.0</kp>
+      <kd>100.0</kd>
+      <mu1>1.0</mu1>
+      <mu2>1.0</mu2>
+      <fdir1>1 0 0</fdir1>
+      <maxVel>1.0</maxVel>
+      <minDepth>0.00</minDepth>
+      <implicitSpringDamper>1</implicitSpringDamper>
+-->
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_front_right_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_front_right_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_front_right_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_front_right_1_link"/>
+    <origin rpy="0 0 0" xyz="0.1695 -0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_front_right_2_joint" type="fixed">
+    <parent link="caster_front_right_1_link"/>
+    <child link="caster_front_right_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_front_right_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_front_right_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_front_left_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_front_left_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_front_left_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_front_left_1_link"/>
+    <origin rpy="0 0 0" xyz="0.1695 0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_front_left_2_joint" type="fixed">
+    <parent link="caster_front_left_1_link"/>
+    <child link="caster_front_left_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_front_left_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_front_left_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_back_right_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_back_right_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_back_right_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_right_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.1735 -0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_back_right_2_joint" type="fixed">
+    <parent link="caster_back_right_1_link"/>
+    <child link="caster_back_right_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_back_right_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_back_right_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="caster_back_left_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+      <mass value="0.101"/>
+      <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+  </link>
+  <link name="caster_back_left_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.03677"/>
+      <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="caster_back_left_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_back_left_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.1735 0.102 -0.0335"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="caster_back_left_2_joint" type="fixed">
+    <parent link="caster_back_left_1_link"/>
+    <child link="caster_back_left_2_link"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Transmission -->
+  <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+  <!-- Contact model for the caster wheel surface -->
+  <gazebo reference="caster_back_left_1_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="caster_back_left_2_link">
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <mu1>0</mu1>
+    <mu2>0</mu2>
+    <fdir1>1 0 0</fdir1>
+    <maxVel>1.0</maxVel>
+    <minDepth>0.00</minDepth>
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <!-- Bottom fixed part of column -->
+  <link name="torso_fixed_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.02435 -0.00464 0.15900"/>
+      <mass value="14.01360"/>
+      <inertia ixx="0.38341100000" ixy="0.00036400000" ixz="-0.02438900000" iyy="0.40577300000" iyz="-0.00078200000" izz="0.07699800000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.085 0.0 0.02"/>
+      <geometry>
+        <box size="0.4 0.25 0.04"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.05"/>
+      <geometry>
+        <box size="0.25 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.062 0.0 0.193"/>
+    <parent link="base_link"/>
+    <child link="torso_fixed_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <!-- Middle extending  -->
+  <link name="torso_fixed_column_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.275"/>
+      <geometry>
+        <box size="0.18 0.2 0.55"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.275"/>
+      <geometry>
+        <box size="0.23 0.23 0.55"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </collision>
+  </link>
+  <gazebo reference="torso_fixed_column_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="torso_fixed_column_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.062 0 0.195"/>
+    <parent link="base_link"/>
+    <child link="torso_fixed_column_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="torso_lift_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.04361 -0.00116 -0.17334"/>
+      <mass value="6.93198"/>
+      <inertia ixx="0.24487000000" ixy="-0.00145600000" ixz="-0.00974200000" iyy="0.24926900000" iyz="0.00828100000" izz="0.09039500000"/>
+    </inertial>
+    <!-- Lifting body -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </collision>
+  </link>
+  <joint name="torso_lift_joint" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.597"/>
+    <parent link="torso_fixed_link"/>
+    <child link="torso_lift_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2000" lower="0" upper="0.35" velocity="0.07"/>
+    <calibration rising="0.0"/>
+    <dynamics damping="1000"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.0" soft_upper_limit="0.35"/>
+  </joint>
+  <transmission name="torso_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="torso_lift_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="torso_lift_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="head_1_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00508 0.00237 0.07229"/>
+      <mass value="0.62220"/>
+      <inertia ixx="0.00119200000" ixy="-0.00000700000" ixz="0.00009600000" iyy="0.00140200000" iyz="0.00000400000" izz="0.00088900000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </collision>
+  </link>
+  <joint name="head_1_joint" type="revolute">
+    <parent link="torso_lift_link"/>
+    <child link="head_1_link"/>
+    <origin rpy="0 0 0" xyz="0.182 0.0 0.0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="5.197" lower="-1.308996939" upper="1.308996939" velocity="3.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.238996939" soft_upper_limit="1.238996939"/>
+  </joint>
+  <gazebo reference="head_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="head_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <transmission name="head_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="head_1_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="head_1_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="head_2_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.04700 0.05542 0.00022"/>
+      <mass value="0.66123"/>
+      <inertia ixx="0.00462000000" ixy="0.00068900000" ixz="0.00000600000" iyy="0.00486100000" iyz="0.00000600000" izz="0.00313200000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_2_joint" type="revolute">
+    <parent link="head_1_link"/>
+    <child link="head_2_link"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.005 0.0 0.098"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="2.77" lower="-1.0471975512" upper="0.785398163397" velocity="3.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.977197551197" soft_upper_limit="0.785398163397"/>
+  </joint>
+  <transmission name="head_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="head_2_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="head_2_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- frames in the center of the camera -->
+  <joint name="xtion_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 0.0" xyz="0.0908 0.08 0.0"/>
+    <parent link="head_2_link"/>
+    <child link="xtion_link"/>
+  </joint>
+  <link name="xtion_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00936000000 -0.00003000000 -0.00273000000"/>
+      <mass value="0.21970000000"/>
+      <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565" iyy="0.00000008027" iyz="0.00000000000" izz="0.00000427339"/>
+    </inertial>
+    <!--
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+        </geometry>
+        <material name="Grey">
+          <color rgba="0.5 0.5 0.5 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="-0.01 0.0025 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.04 0.185 0.03"/>
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="xtion_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_optical_frame"/>
+  </joint>
+  <link name="xtion_optical_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <!-- frames of the depth sensor -->
+  <joint name="xtion_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.047 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_depth_frame"/>
+  </joint>
+  <link name="xtion_depth_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <joint name="xtion_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_depth_frame"/>
+    <child link="xtion_depth_optical_frame"/>
+  </joint>
+  <link name="xtion_depth_optical_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <!-- frames of the rgb sensor -->
+  <joint name="xtion_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+    <parent link="xtion_link"/>
+    <child link="xtion_rgb_frame"/>
+  </joint>
+  <link name="xtion_rgb_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <joint name="xtion_rgb_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="xtion_rgb_frame"/>
+    <child link="xtion_rgb_optical_frame"/>
+  </joint>
+  <link name="xtion_rgb_optical_frame">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+  </link>
+  <gazebo reference="xtion_rgb_frame">
+    <sensor name="xtion_frame_sensor" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.09955742876</horizontal_fov>
+        <image>
+          <format>B8G8R8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.3</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_frame_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>xtion</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>depth_registered/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>depth_registered/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>depth_registered/points</pointCloudTopicName>
+        <frameName>xtion_rgb_optical_frame</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!--************************-->
+  <!--        SHOULDER        -->
+  <!--************************-->
+  <link name="arm_1_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.063989 0.022546 -0.014608"/>
+      <mass value="2.083078"/>
+      <inertia ixx="0.003003" ixy="0.002396" ixz="0.001531" iyy="0.008613" iyz="0.000588" izz="0.009348"/>
+    </inertial>
+    <!-- M90 module -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_1_joint" type="revolute">
+    <parent link="torso_lift_link"/>
+    <child link="arm_1_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="0.15505 0.014 -0.151"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39.0" lower="0.0" upper="2.74889357189" velocity="2.7"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.07" soft_upper_limit="2.67889357189"/>
+  </joint>
+  <link name="arm_2_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.035264 0.000327 0.008489"/>
+      <mass value="1.792499"/>
+      <inertia ixx="0.001683" ixy="-0.000010" ixz="-0.000387" iyy="0.004708" iyz="-0.000028" izz="0.004780"/>
+    </inertial>
+    <visual>
+      <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_2_joint" type="revolute">
+    <parent link="arm_1_link"/>
+    <child link="arm_2_link"/>
+    <origin rpy="1.57079632679 0.0 0.0" xyz="0.125 0.0165 -0.031"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39.0" lower="-1.57079632679" upper="1.0908307825" velocity="3.66"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.50079632679" soft_upper_limit="1.0208307825"/>
+  </joint>
+  <link name="arm_3_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.007956 0.005368 -0.136320"/>
+      <mass value="2.275860"/>
+      <inertia ixx="0.018178" ixy="-0.000143" ixz="0.001379" iyy="0.018552" iyz="-0.000888" izz="0.002774"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_3_joint" type="revolute">
+    <parent link="arm_2_link"/>
+    <child link="arm_3_link"/>
+    <origin rpy="-1.57079632679 0.0 1.57079632679" xyz="0.0895 0.0 0.0015"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="17.86" lower="-3.53429173529" upper="1.57079632679" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-3.46429173529" soft_upper_limit="1.50079632679"/>
+  </joint>
+  <!--************************-->
+  <!--        ELBOW           -->
+  <!--************************-->
+  <link name="arm_4_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="-0.095658 0.014666 0.018133"/>
+      <mass value="1.892788"/>
+      <inertia ixx="0.002542" ixy="-0.000956" ixz="-0.001457" iyy="0.011789" iyz="0.000229" izz="0.012058"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_4_joint" type="revolute">
+    <parent link="arm_3_link"/>
+    <child link="arm_4_link"/>
+    <origin rpy="-1.57079632679 -1.57079632679 0.0" xyz="-0.02 -0.027 -0.222"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="17.86" lower="-0.392699081699" upper="2.35619449019" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.322699081699" soft_upper_limit="2.28619449019"/>
+  </joint>
+  <gazebo reference="arm_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="arm_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <!--************************-->
+  <!--        WRIST           -->
+  <!--************************-->
+  <link name="arm_5_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00003 -0.00028 0.07831"/>
+      <mass value="1.07424"/>
+      <inertia ixx="0.00168000000" ixy="0.00000100000" ixz="-0.00001500000" iyy="0.00160300000" iyz="-0.00001900000" izz="0.00040400000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_5_joint" type="revolute">
+    <parent link="arm_4_link"/>
+    <child link="arm_5_link"/>
+    <origin rpy="0.0 -1.57079632679 0.0" xyz="-0.162 0.02 0.027"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="3" lower="-2.09439510239" upper="2.09439510239" velocity="1.95"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+  </joint>
+  <link name="arm_6_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00531 0.00021 0.00002"/>
+      <mass value="0.28722"/>
+      <inertia ixx="0.00005900000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00010600000" iyz="0.00000000000" izz="0.00012600000"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_6_joint" type="revolute">
+    <parent link="arm_5_link"/>
+    <child link="arm_6_link"/>
+    <origin rpy="0.0 -1.57079632679 -1.57079632679" xyz="0 0 0.15"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.6" lower="-1.41371669412" upper="1.41371669412" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.39371669412" soft_upper_limit="1.39371669412"/>
+  </joint>
+  <link name="arm_7_link">
+    <inertial>
+      <origin rpy="0.00000 0.00000 0.00000" xyz="0.00011 -0.00034 0.02405"/>
+      <mass value="0.05935"/>
+      <inertia ixx="0.00001400000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00001400000" iyz="0.00000000000" izz="0.00000400000"/>
+    </inertial>
+  </link>
+  <joint name="arm_7_joint" type="revolute">
+    <parent link="arm_6_link"/>
+    <child link="arm_7_link"/>
+    <origin rpy="1.57079632679 0.0 1.57079632679" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="6.6" lower="-2.09439510239" upper="2.09439510239" velocity="1.76"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+  </joint>
+  <gazebo reference="arm_5_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_6_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_7_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="arm_5_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_6_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_7_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <transmission name="arm_5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_5_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_5_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="wrist_trans">
+    <type>transmission_interface/DifferentialTransmission</type>
+    <actuator name="arm_6_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>-1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="arm_7_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_6_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+    </joint>
+    <joint name="arm_7_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>-1</mechanicalReduction>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+    </joint>
+  </transmission>
+  <!--***********************-->
+  <!--        TOOL           -->
+  <!--***********************-->
+  <link name="arm_tool_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.005"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_tool_joint" type="fixed">
+    <parent link="arm_7_link"/>
+    <child link="arm_tool_link"/>
+    <origin rpy="1.57079632679 -1.57079632679 3.14159265359" xyz="0 0 0.046"/>
+  </joint>
+  <transmission name="arm_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_1_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_1_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_2_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_2_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_3_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_3_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <transmission name="arm_4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="arm_4_motor">
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="arm_4_joint">
+      <offset>0.0</offset>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!--************************-->
+  <!--        ft sensor       -->
+  <!--************************-->
+  <link name="wrist_ft_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.0157" radius="0.0225"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_ft_joint" type="fixed">
+    <parent link="arm_tool_link"/>
+    <child link="wrist_ft_link"/>
+    <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00785 0 0"/>
+  </joint>
+  <!--***********************-->
+  <!--       FT TOOL         -->
+  <!--***********************-->
+  <link name="wrist_ft_tool_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+      <material name="FlatBlack"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+      <geometry>
+        <cylinder length="0.00975" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_tool_joint" type="fixed">
+    <parent link="wrist_ft_link"/>
+    <child link="wrist_ft_tool_link"/>
+    <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0 0 0.012725"/>
+  </joint>
+  <!-- RGBD Laser Link -->
+  <joint name="rgbd_laser_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="rgbd_laser_link"/>
+    <origin rpy="0 0 0" xyz="-0.9 0 0"/>
+  </joint>
+  <link name="rgbd_laser_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index af6ca015d5fe31ca464e22bfcef3119071794de1..545f03e859eda60f6fa3dcb2f4ae570be46d94c5 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -2,7 +2,7 @@
 
 import unittest
 
-from unittest_utils import loadHyQ, loadTalos, loadTalosArm
+from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand
 
 
 class RobotTestCase(unittest.TestCase):
@@ -46,5 +46,17 @@ class HyQTest(RobotTestCase):
     RobotTestCase.NV = 18
 
 
+class TiagoTest(RobotTestCase):
+    RobotTestCase.ROBOT = loadTiago()
+    RobotTestCase.NQ = 50
+    RobotTestCase.NV = 48
+
+
+class TiagoNoHandTest(RobotTestCase):
+    RobotTestCase.ROBOT = loadTiagoNoHand()
+    RobotTestCase.NQ = 14
+    RobotTestCase.NV = 12
+
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index 81896aa53152aa1c07a6ec668979681254803a8c..cb93bec02051ba99f77d6818df165314293e3021 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -77,3 +77,29 @@ def loadHyQ():
     # Load SRDF file
     readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
     return robot
+
+
+def loadTiago():
+    URDF_FILENAME = "tiago.urdf"
+#    SRDF_FILENAME = "tiago.srdf"
+#    SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
+    URDF_SUBPATH = "/tiago_description/robots/" + URDF_FILENAME
+    modelPath = getModelPath(URDF_SUBPATH)
+    # Load URDF file
+    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+    # Load SRDF file
+#    readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+    return robot
+
+
+def loadTiagoNoHand():
+    URDF_FILENAME = "tiago_no_hand.urdf"
+#    SRDF_FILENAME = "tiago.srdf"
+#    SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
+    URDF_SUBPATH = "/tiago_description/robots/" + URDF_FILENAME
+    modelPath = getModelPath(URDF_SUBPATH)
+    # Load URDF file
+    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+    # Load SRDF file
+#    readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+    return robot