diff --git a/data/blender/hyq.blend b/data/blender/hyq.blend
index c1b74061f569128215f7bc86e0de6fc4fa768222..6314ec139ea1ea3de79bacf14681d4a5fe7dd4e0 100644
Binary files a/data/blender/hyq.blend and b/data/blender/hyq.blend differ
diff --git a/data/blender/stair_bauzil.blend b/data/blender/stair_bauzil.blend
index 5c77bf7fedf68a8cd0c057886bbf122f15e1bdc7..e8ebb39f37ed03534ffbbf2c0d45303f6a47c428 100644
Binary files a/data/blender/stair_bauzil.blend and b/data/blender/stair_bauzil.blend differ
diff --git a/data/meshes/hrp2_trunk_body.stl b/data/meshes/hrp2_trunk_body.stl
index 642c3a5a16158d7620c3087ea1f21718930d1aa4..5fbc4399a901637f8f31afba0dfcfdb699a42e77 100644
Binary files a/data/meshes/hrp2_trunk_body.stl and b/data/meshes/hrp2_trunk_body.stl differ
diff --git a/data/meshes/hrp2_trunk_torso.stl b/data/meshes/hrp2_trunk_torso.stl
index 8327d0ba3c4ed2ce342b622a0f4411a127df89d6..87cdd781921b2c686f2efa96897d3c2900cc7e96 100644
Binary files a/data/meshes/hrp2_trunk_torso.stl and b/data/meshes/hrp2_trunk_torso.stl differ
diff --git a/data/meshes/stair_bauzil.stl b/data/meshes/stair_bauzil.stl
index b297da899b04c632a265eee3e084286230f0ca69..0e0bacf255a1b256eb140037bef369d78ce21f37 100644
Binary files a/data/meshes/stair_bauzil.stl and b/data/meshes/stair_bauzil.stl differ
diff --git a/data/urdf/darpa.urdf b/data/urdf/darpa.urdf
index 24ab2add5c2718e88daef44936c6ead24ebf0e7d..9ec29cd10994a5c593da2ac4e10fbbcf3ec79175 100644
--- a/data/urdf/darpa.urdf
+++ b/data/urdf/darpa.urdf
@@ -3,7 +3,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package:///../hpp-rbprm-corba/meshes/darpareduced.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/darpareduced.stl"/>
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
diff --git a/data/urdf/groundcrouch.urdf b/data/urdf/groundcrouch.urdf
index 9412754ab3ac37f354bdd5b1eeb33fcf6f41b7e1..45cf09ede2dd652b451ee3b2d202fa42bb61fa6b 100644
--- a/data/urdf/groundcrouch.urdf
+++ b/data/urdf/groundcrouch.urdf
@@ -3,7 +3,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package:///../hpp-rbprm-corba/meshes/groundcrouch.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/groundcrouch.stl"/>
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
diff --git a/data/urdf/hrp2_larm_rom.urdf b/data/urdf/hrp2_larm_rom.urdf
index c118adeca986719ff9009b9ab3792df1a3aad0fd..f46042eacde2e4d567ad87f33ab26898d14efe7a 100644
--- a/data/urdf/hrp2_larm_rom.urdf
+++ b/data/urdf/hrp2_larm_rom.urdf
@@ -30,12 +30,12 @@
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/>
       </geometry>
-      <material name="white">
-        <color rgba="1 1 1 1"/>
+      <material name="green">
+        <color rgba="0 1 0 0.3"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0.003" />
+      <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/>
       </geometry>
diff --git a/data/urdf/hrp2_rarm_rom.urdf b/data/urdf/hrp2_rarm_rom.urdf
index c7e8316858b54597c3a495eb3a19b15b4112e9de..b0d4a4d72f755b6e839a02c254651654361ef1cc 100644
--- a/data/urdf/hrp2_rarm_rom.urdf
+++ b/data/urdf/hrp2_rarm_rom.urdf
@@ -35,7 +35,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0.003" />
+      <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rarm_rom.stl"/>
       </geometry>
diff --git a/data/urdf/hrp2_trunk_flexible.urdf b/data/urdf/hrp2_trunk_flexible.urdf
index 0c21a0fb73e5901671553fc6c4e753a8231b43ba..0c353cee43c6546255c755c40bc849d6070c8ea2 100644
--- a/data/urdf/hrp2_trunk_flexible.urdf
+++ b/data/urdf/hrp2_trunk_flexible.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_lleg_rom.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body.stl"/>
       </geometry>
       <material name="red">
         <color rgba="1 1 1 1"/>
@@ -41,12 +41,12 @@
   </joint>  
   <link name="torso">  
     <visual>
-      <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
+      <origin xyz="0 0 0" rpy="0 0 0.003" />
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso.stl"/>
       </geometry>
       <material name="red">
-        <color rgba="1 1 1 1"/>
+        <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
diff --git a/data/urdf/scene_wall.urdf b/data/urdf/scene_wall.urdf
index f6fc107de2d0542c3bedac7903e14f816ea489da..5ea8c1321ee196c7767718152e6dd6481ea69b09 100644
--- a/data/urdf/scene_wall.urdf
+++ b/data/urdf/scene_wall.urdf
@@ -3,7 +3,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package:///../hpp-rbprm-corba/meshes/ground_table.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/ground_table.stl"/>
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
diff --git a/data/urdf/stair_bauzil.urdf b/data/urdf/stair_bauzil.urdf
index 3635b5d8b0a4dbf9523b2512789dff1289709987..3b9ef3ab1944dc9f4b599222e6ea9c1a4fef7e81 100644
--- a/data/urdf/stair_bauzil.urdf
+++ b/data/urdf/stair_bauzil.urdf
@@ -3,7 +3,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package:///../hpp-rbprm-corba/meshes/stair_bauzil.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/stair_bauzil.stl"/>
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>