diff --git a/talos_description/gazebo/gazebo.urdf.xacro b/talos_description/gazebo/gazebo.urdf.xacro
index 916a7dc2b37c47e293baa7115ec0d41d4270547b..72d8667b90d639dcf0b5d69a8777a99cb2c43194 100644
--- a/talos_description/gazebo/gazebo.urdf.xacro
+++ b/talos_description/gazebo/gazebo.urdf.xacro
@@ -13,7 +13,7 @@
   <gazebo>
     <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
       <frameName>torso_2_link</frameName>
-      <topicName>floating_base_pose</topicName>
+      <topicName>floating_base_pose_simulated</topicName>
     </plugin>
   </gazebo>
 
diff --git a/talos_description/meshes/foot.STL b/talos_description/meshes/foot.STL
new file mode 100644
index 0000000000000000000000000000000000000000..228d7ee644773b2c85f038a7dbe399997d81bcd6
Binary files /dev/null and b/talos_description/meshes/foot.STL differ