diff --git a/urdf/talos_full_common.urdf.xacro b/urdf/talos_full_common.urdf.xacro
index e2fd331b64c79dae594a2a32ecdfe3c9f9e88170..47d7364e4cb17f6fea77e92befd4b7136869d232 100644
--- a/urdf/talos_full_common.urdf.xacro
+++ b/urdf/talos_full_common.urdf.xacro
@@ -22,10 +22,11 @@
   <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
   <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
   <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
-  <!--  <xacro:if value="$(arg enable_leg_passive)"> -->
+  <xacro:if value="$(arg enable_leg_passive)">
     <xacro:include filename="$(find talos_data)/urdf/leg/leg_passive.urdf.xacro" />
-  <!-- </xacro:if> -->
-  <!-- <xacro:unless value="$(arg enable_leg_passive)">
+  </xacro:if>
+  <xacro:unless name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
+  <xacro:unless value="${var_enable_leg_passive != 'true'}">
     <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
   </xacro:unless> -->
   
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index c61cdb8302424504065d09ea2f4ab0b115a28a45..f264042dafdf710e319fd22e5ce06ddddde34810 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -105,6 +105,15 @@
       </collision>
     </link>
 
+    <!-- <xacro:if value="$(arg enable_fixed_robot)"> -->
+      <link name="world"/>
+
+      <joint name="fixed" type="fixed">
+        <parent link="world"/>
+        <child link="base_link"/>
+      </joint>
+    <!-- </xacro:if> -->
+
     <joint name="${name}_2_joint" type="revolute">
       <parent link="${name}_1_link"/>
       <child link="${name}_2_link"/>