diff --git a/pal_tiago/assets/arm/arm_1_collision.stl b/pal_tiago/assets/arm/arm_1_collision.stl
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index efc65cf3..00000000
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index cc6aa057..00000000
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index ed24c048..00000000
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index 70a875c5..00000000
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index 4e82551d..00000000
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index a03b6ca0..00000000
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index 1b90087d..00000000
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index 688a14ad..00000000
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index 3a9f0ee1..00000000
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index 57d1d820..00000000
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index b5315073..00000000
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index 86bece3c..00000000
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index 69d27cbb..00000000
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deleted file mode 100644
index c39db7aa..00000000
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index c91b64ad..00000000
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index e515c58a..00000000
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diff --git a/pal_tiago/assets/arm/arm_5-wrist-2010.stl b/pal_tiago/assets/arm/arm_5-wrist-2010.stl
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index b9db2978..00000000
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index c3fee4a6..00000000
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diff --git a/pal_tiago/assets/arm/arm_5_collision-wrist-2017.stl b/pal_tiago/assets/arm/arm_5_collision-wrist-2017.stl
deleted file mode 100644
index 14b2426f..00000000
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diff --git a/pal_tiago/assets/arm/arm_6-wrist-2010.stl b/pal_tiago/assets/arm/arm_6-wrist-2010.stl
deleted file mode 100644
index 5a7391a1..00000000
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index cc8c3fef..00000000
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diff --git a/pal_tiago/assets/arm/arm_6_collision-wrist-2017.stl b/pal_tiago/assets/arm/arm_6_collision-wrist-2017.stl
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index db2399a9..00000000
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diff --git a/pal_tiago/assets/arm/arm_6_color.png b/pal_tiago/assets/arm/arm_6_color.png
deleted file mode 100644
index 21d09e59..00000000
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index 2f906eb5..00000000
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index 0e56f3ef..00000000
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diff --git a/pal_tiago/assets/base/base_collision.stl b/pal_tiago/assets/base/base_collision.stl
deleted file mode 100644
index 8a0f2972..00000000
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diff --git a/pal_tiago/assets/base/high_resolution/base.stl b/pal_tiago/assets/base/high_resolution/base.stl
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index dc16da38..00000000
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diff --git a/pal_tiago/assets/base/high_resolution/base_collision.stl b/pal_tiago/assets/base/high_resolution/base_collision.stl
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index 65eb697e..00000000
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diff --git a/pal_tiago/assets/cameras_add_on/cameras_add_on.stl b/pal_tiago/assets/cameras_add_on/cameras_add_on.stl
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index 1b5e5ac3..00000000
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diff --git a/pal_tiago/assets/cameras_add_on/cameras_add_on_collision.stl b/pal_tiago/assets/cameras_add_on/cameras_add_on_collision.stl
deleted file mode 100644
index e02cea0e..00000000
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diff --git a/pal_tiago/assets/dock/dock.stl b/pal_tiago/assets/dock/dock.stl
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index 70eaf6e6..00000000
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index 70eaf6e6..00000000
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diff --git a/pal_tiago/assets/finger_abd_collision.stl b/pal_tiago/assets/finger_abd_collision.stl
deleted file mode 100644
index 65df9485..00000000
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diff --git a/pal_tiago/assets/finger_flex_collision.stl b/pal_tiago/assets/finger_flex_collision.stl
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index e8736afc..00000000
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diff --git a/pal_tiago/assets/finger_flex_tip_collision.stl b/pal_tiago/assets/finger_flex_tip_collision.stl
deleted file mode 100644
index 8ae335a5..00000000
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diff --git a/pal_tiago/assets/gripper_finger_link.stl b/pal_tiago/assets/gripper/gripper_finger_link.stl
similarity index 100%
rename from pal_tiago/assets/gripper_finger_link.stl
rename to pal_tiago/assets/gripper/gripper_finger_link.stl
diff --git a/pal_tiago/assets/gripper_link.stl b/pal_tiago/assets/gripper/gripper_link.stl
similarity index 100%
rename from pal_tiago/assets/gripper_link.stl
rename to pal_tiago/assets/gripper/gripper_link.stl
diff --git a/pal_tiago/assets/gripper_finger_link1.stl b/pal_tiago/assets/gripper_finger_link1.stl
deleted file mode 100644
index e5cf5df5..00000000
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diff --git a/pal_tiago/assets/gripper_finger_link_collision.stl b/pal_tiago/assets/gripper_finger_link_collision.stl
deleted file mode 100644
index 9659a2c8..00000000
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diff --git a/pal_tiago/assets/gripper_link_collision.stl b/pal_tiago/assets/gripper_link_collision.stl
deleted file mode 100644
index 1bcfe4ea..00000000
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diff --git a/pal_tiago/assets/head/head_1_collision.stl b/pal_tiago/assets/head/head_1_collision.stl
deleted file mode 100644
index 7b36d1e3..00000000
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diff --git a/pal_tiago/assets/head/head_2_collision.stl b/pal_tiago/assets/head/head_2_collision.stl
deleted file mode 100644
index 09d00f7e..00000000
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diff --git a/pal_tiago/assets/objects/cover.stl b/pal_tiago/assets/objects/cover.stl
deleted file mode 100644
index 7a789d59..00000000
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diff --git a/pal_tiago/assets/objects/high_resolution/cover.stl b/pal_tiago/assets/objects/high_resolution/cover.stl
deleted file mode 100644
index 7a789d59..00000000
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diff --git a/pal_tiago/assets/palm.stl b/pal_tiago/assets/palm.stl
deleted file mode 100644
index 4ef69e12..00000000
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diff --git a/pal_tiago/assets/palm_collision.stl b/pal_tiago/assets/palm_collision.stl
deleted file mode 100644
index dde281c4..00000000
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diff --git a/pal_tiago/assets/sensors/bumper.stl b/pal_tiago/assets/sensors/bumper.stl
deleted file mode 100644
index a22653d7..00000000
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diff --git a/pal_tiago/assets/sensors/bumper_collision.stl b/pal_tiago/assets/sensors/bumper_collision.stl
deleted file mode 100644
index 636ccf77..00000000
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diff --git a/pal_tiago/assets/sensors/elp_camera.stl b/pal_tiago/assets/sensors/elp_camera.stl
deleted file mode 100644
index 2999817e..00000000
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diff --git a/pal_tiago/assets/sensors/hokuyo_urg_04lx_ug01.stl b/pal_tiago/assets/sensors/hokuyo_urg_04lx_ug01.stl
deleted file mode 100644
index f6d27d08..00000000
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diff --git a/pal_tiago/assets/sensors/structure_sensor.stl b/pal_tiago/assets/sensors/structure_sensor.stl
deleted file mode 100644
index cdfc72f0..00000000
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diff --git a/pal_tiago/assets/sensors/xtion_pro_live/xtion_pro_live.png b/pal_tiago/assets/sensors/xtion_pro_live/xtion_pro_live.png
deleted file mode 100644
index b51bb875..00000000
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diff --git a/pal_tiago/assets/thumb_abd_collision.stl b/pal_tiago/assets/thumb_abd_collision.stl
deleted file mode 100644
index 91994f75..00000000
Binary files a/pal_tiago/assets/thumb_abd_collision.stl and /dev/null differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision.stl b/pal_tiago/assets/torso/torso_lift_collision.stl
deleted file mode 100644
index 1c8ad0e5..00000000
Binary files a/pal_tiago/assets/torso/torso_lift_collision.stl and /dev/null differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision_core.stl b/pal_tiago/assets/torso/torso_lift_collision_core.stl
deleted file mode 100644
index 6c4047c6..00000000
Binary files a/pal_tiago/assets/torso/torso_lift_collision_core.stl and /dev/null differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision_neck.stl b/pal_tiago/assets/torso/torso_lift_collision_neck.stl
deleted file mode 100644
index dd334bf4..00000000
Binary files a/pal_tiago/assets/torso/torso_lift_collision_neck.stl and /dev/null differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision_shoulder.stl b/pal_tiago/assets/torso/torso_lift_collision_shoulder.stl
deleted file mode 100644
index e0fb3ec6..00000000
Binary files a/pal_tiago/assets/torso/torso_lift_collision_shoulder.stl and /dev/null differ
diff --git a/pal_tiago/assets/torso/torso_lift_without_arm.stl b/pal_tiago/assets/torso/torso_lift_without_arm.stl
deleted file mode 100644
index 56fcc78e..00000000
Binary files a/pal_tiago/assets/torso/torso_lift_without_arm.stl and /dev/null differ
diff --git a/pal_tiago/assets/wheels/high_resolution/caster_1.stl b/pal_tiago/assets/wheels/high_resolution/caster_1.stl
deleted file mode 100644
index c31c19d9..00000000
Binary files a/pal_tiago/assets/wheels/high_resolution/caster_1.stl and /dev/null differ
diff --git a/pal_tiago/assets/wheels/high_resolution/caster_2.stl b/pal_tiago/assets/wheels/high_resolution/caster_2.stl
deleted file mode 100644
index 9734a23a..00000000
Binary files a/pal_tiago/assets/wheels/high_resolution/caster_2.stl and /dev/null differ
diff --git a/pal_tiago/assets/wheels/high_resolution/wheel.stl b/pal_tiago/assets/wheels/high_resolution/wheel.stl
deleted file mode 100644
index 7863cf06..00000000
Binary files a/pal_tiago/assets/wheels/high_resolution/wheel.stl and /dev/null differ
diff --git a/pal_tiago/tiago.xml b/pal_tiago/tiago.xml
index 3469a29a..5d4ab6ed 100644
--- a/pal_tiago/tiago.xml
+++ b/pal_tiago/tiago.xml
@@ -30,9 +30,9 @@
     <mesh file="arm/arm_4.stl"/>
     <mesh file="arm/arm_5-wrist-2017.stl"/>
     <mesh file="arm/arm_6-wrist-2017.stl"/>
-    <mesh file="gripper_link.stl"/>
-    <mesh file="gripper_finger_link.stl" scale="-1 -1 1"/>
-    <mesh file="gripper_finger_link1.stl"/>
+    <mesh file="gripper/gripper_link.stl"/>
+    <mesh name="gripper_right_finger_link" file="gripper/gripper_finger_link.stl" scale="-1 -1 1"/>
+    <mesh name="gripper_left_finger_link" file="gripper/gripper_finger_link.stl"/>
   </asset>
 
   <default>
@@ -63,12 +63,12 @@
       <inertial pos="-0.01 -0.002 0.131" mass="47.112" diaginertia="2.074 2.245 0.897"/>
       <body name="wheel_right_link" pos="0 -0.2022 0.0985" quat="1 -1 0 0">
         <inertial pos="0.0 0.0 0.0" mass="4.4" diaginertia="0.014 0.014 0.027"/>
-        <joint name="wheel_right_joint"/>
+        <joint name="wheel_right_joint" actuatorfrcrange="-100 100"/>
         <geom material="gray10" mesh="wheel"/>
       </body>
       <body name="wheel_left_link" pos="0 0.2022 0.0985" quat="1 -1 0 0">
         <inertial pos="0.0 0.0 0.0" mass="4.4" diaginertia="0.014 0.014 0.027"/>
-        <joint name="wheel_left_joint"/>
+        <joint name="wheel_left_joint" actuatorfrcrange="-100 100"/>
         <geom quat="0 -1 0 0" material="gray10" mesh="wheel"/>
       </body>
       <body name="caster_front_right_1_link" pos="0.1695 -0.102 0.065" childclass="wheel">
@@ -117,15 +117,15 @@
       </body>
       <body name="torso_lift_link" pos="-0.062 0 0.8885">
         <inertial pos="0.031711 -0.001004 -0.187315" mass="6.281737" diaginertia="0.230972 0.235034 0.080705"/>
-        <joint name="torso_lift_joint" type="slide" range="0 0.35" damping="2000"/>
+        <joint name="torso_lift_joint" type="slide" range="0 0.35" actuatorfrcrange="-500 500" damping="2000"/>
         <geom material="white" mesh="torso_lift_with_arm"/>
         <body name="head_1_link" pos="0.182 0 0">
           <inertial pos="-0.00508 0.00237 0.07229" mass="0.6222" diaginertia="0.00140223 0.00121968 0.000861083"/>
-          <joint name="head_1_joint" range="-1.309 1.309" damping="0.5"/>
+          <joint name="head_1_joint" range="-1.309 1.309" actuatorfrcrange="-5.197 5.197" damping="0.5"/>
           <geom material="white" mesh="head_1"/>
           <body name="head_2_link" pos="0.005 0 0.098" quat="1 1 0 0">
             <inertial pos="0.0558274 0.0609987 1.58542e-05" mass="0.88693" diaginertia="0.00554181 0.00436261 0.00347586"/>
-            <joint name="head_2_joint" range="-1.0472 0.785398" damping="0.5"/>
+            <joint name="head_2_joint" range="-1.0472 0.785398" actuatorfrcrange="-5.197 5.197" damping="0.5"/>
             <geom material="white" mesh="head_2"/>
             <camera name="head_camera" pos="0.0908 0.08 0.0" mode="fixed" euler="0 -1.57 0"
                             fovy="45.5" resolution="640 480"/>
@@ -133,31 +133,31 @@
         </body>
         <body name="arm_1_link" pos="0.15505 0.014 -0.151" quat="1 0 0 -1" childclass="arm">
           <inertial pos="0.061191 -0.022397 -0.012835" mass="1.56343" diaginertia="0.00510233 0.00510233 0.00510233"/>
-          <joint name="arm_1_joint" range="0 2.74889" damping="10"/>
+          <joint name="arm_1_joint" range="0 2.74889" actuatorfrcrange="-43 43" damping="10"/>
           <geom material="white" mesh="arm_1"/>
           <body name="arm_2_link" pos="0.125 0.0195 -0.031" quat="1 1 0 0">
             <inertial pos="0.030432 0.000229 -0.005942" mass="1.8004" diaginertia="0.00437229 0.00432701 0.0017837"/>
-            <joint name="arm_2_joint" range="-1.5708 1.09083" damping="10"/>
+            <joint name="arm_2_joint" range="-1.5708 1.09083" actuatorfrcrange="-43 43" damping="10"/>
             <geom material="gray10" mesh="arm_2"/>
             <body name="arm_3_link" pos="0.0895 0 -0.0015" quat="0.5 -0.5 -0.5 0.5">
               <inertial pos="0.007418 -0.004361 -0.134194" mass="1.8" diaginertia="0.0200771 0.0196154 0.00264853"/>
-              <joint name="arm_3_joint" range="-3.53429 1.5708" damping="10"/>
+              <joint name="arm_3_joint" range="-3.53429 1.5708" actuatorfrcrange="-26 26" damping="10"/>
               <geom material="gray10" mesh="arm_3"/>
               <body name="arm_4_link" pos="-0.02 -0.027 -0.222" quat="0.5 -0.5 -0.5 -0.5">
                 <inertial pos="-0.095658 0.014666 0.018133" mass="1.4327" diaginertia="0.002040 0.008424 0.008686"/>
-                <joint name="arm_4_joint" range="-0.392699 2.35619" damping="10"/>
+                <joint name="arm_4_joint" range="-0.392699 2.35619" actuatorfrcrange="-26 26" damping="10"/>
                 <geom material="gray10" mesh="arm_4"/>
                 <body name="arm_5_link" pos="-0.162 0.02 0.027" quat="1 0 -1 0">
                   <inertial pos="0.001078 -0.000151 -0.077173" mass="0.935914" diaginertia="0.00103619 0.000794527 0.000439824"/>
-                  <joint name="arm_5_joint" range="-2.0944 2.0944" damping="1"/>
+                  <joint name="arm_5_joint" range="-2.0944 2.0944" actuatorfrcrange="-3 3" damping="1"/>
                   <geom material="mercury" mesh="arm_5-wrist-2017"/>
                   <body name="arm_6_link" pos="0 0 0.15" quat="0.5 -0.5 -0.5 -0.5">
                     <inertial pos="-0.000153 -0.003122 0.000183" mass="0.302758" diaginertia="3.85419e-05 3.33205e-05 3.29226e-05"/>
-                    <joint name="arm_6_joint" range="-1.41372 1.41372" damping="1"/>
+                    <joint name="arm_6_joint" range="-1.41372 1.41372" actuatorfrcrange="-6.6 6.6" damping="1"/>
                     <geom material="mercury" mesh="arm_6-wrist-2017"/>
                     <body name="arm_7_link" quat="0.5 0.5 0.5 0.5">
                       <inertial pos="-0.000173894 0.000176395 0.0817355" mass="1.00276" diaginertia="0.0025841 0.0022568 0.000746434"/>
-                      <joint name="arm_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <joint name="arm_7_joint" range="-2.0944 2.0944"  actuatorfrcrange="-6.6 6.6" damping="1"/>
                       <geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder" material="mercury"/>
                       <geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" material="mercury"/>
                       <geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder" material="gray10"/>
@@ -165,12 +165,12 @@
                       <body name="gripper_right_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
                         <inertial pos="0.008658 0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
                         <joint name="gripper_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045" damping="80" frictionloss="1.0"/>
-                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_right_finger_link"/>
                       </body>
                       <body name="gripper_left_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
                         <inertial pos="-0.008658 -0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
                         <joint name="gripper_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045" damping="80" frictionloss="1.0"/>
-                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_left_finger_link"/>
                       </body>
                     </body>
                   </body>
diff --git a/pal_tiago/tiago_motor.xml b/pal_tiago/tiago_motor.xml
index ad8219c2..d433e03d 100644
--- a/pal_tiago/tiago_motor.xml
+++ b/pal_tiago/tiago_motor.xml
@@ -18,13 +18,12 @@
       forcerange="-64 64" kp="1000"/>
     <!-- Head actuators -->
     <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20"/>
-    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" forcerange="-2.77 2.77"
-      kp="20"/>
+    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20"/>
     <!-- Torso actuators -->
     <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="5000"/>
     <!-- Wheel actuators -->
-    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
-    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" kv="100"/>
+    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" kv="100"/>
   </actuator>
 
 </mujoco>
diff --git a/pal_tiago/tiago_position.xml b/pal_tiago/tiago_position.xml
index 7bd388e7..6aab44dd 100644
--- a/pal_tiago/tiago_position.xml
+++ b/pal_tiago/tiago_position.xml
@@ -1,29 +1,36 @@
 <mujoco model="tiago_position">
 
   <include file="tiago.xml"/>
+
+  <default>
+    <default class="position">
+      <position dampratio="1"/>
+    </default>
+  </default>
+
   <actuator>
     <!-- Arm actuators -->
-    <position name="arm_position_1_position" joint="arm_1_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-53 53"/>
-    <position name="arm_position_2_position" joint="arm_2_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-53 53"/>
-    <position name="arm_position_3_position" joint="arm_3_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-30 30"/>
-    <position name="arm_position_4_position" joint="arm_4_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-30 30"/>
+    <position class="position" name="arm_position_1_position" joint="arm_1_joint" inheritrange="1.0" kp="3000"/>
+    <position class="position" name="arm_position_2_position" joint="arm_2_joint" inheritrange="1.0" kp="3000"/>
+    <position class="position" name="arm_position_3_position" joint="arm_3_joint" inheritrange="1.0" kp="3000"/>
+    <position class="position" name="arm_position_4_position" joint="arm_4_joint" inheritrange="1.0" kp="3000"/>
     <!-- Wrist actuators -->
-    <position name="arm_position_5_position" joint="arm_5_joint" inheritrange="1.0" kp="500" dampratio="1.0" forcerange="-3 3"/>
-    <position name="arm_position_6_position" joint="arm_6_joint" inheritrange="1.0" kp="500" dampratio="1.0" forcerange="-6.6 6.6"/>
-    <position name="arm_position_7_position" joint="arm_7_joint" inheritrange="1.0" kp="500" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <position class="position" name="arm_position_5_position" joint="arm_5_joint" inheritrange="1.0" kp="500"/>
+    <position class="position" name="arm_position_6_position" joint="arm_6_joint" inheritrange="1.0" kp="500"/>
+    <position class="position" name="arm_position_7_position" joint="arm_7_joint" inheritrange="1.0" kp="500"/>
     <!-- End effector actuators -->
-    <position name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
+    <position class="position" name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
       forcerange="-5.197 5.197" kp="1000" kv="80"/>
-    <position name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
+    <position class="position" name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
       forcerange="-5.197 5.197" kp="1000" kv="80"/>
     <!-- Head actuators -->
-    <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
-    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
+    <position class="position" name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20"/>
+    <position class="position" name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20"/>
     <!-- Torso actuators -->
-    <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="30000" forcerange="-500 500"/>
+    <position class="position" name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="30000"/>
     <!-- Wheel actuators -->
-    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
-    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" kv="100"/>
+    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" kv="100"/>
   </actuator>
 
   <keyframe>
diff --git a/pal_tiago/tiago_velocity.xml b/pal_tiago/tiago_velocity.xml
index abecf855..ec2564de 100644
--- a/pal_tiago/tiago_velocity.xml
+++ b/pal_tiago/tiago_velocity.xml
@@ -3,27 +3,27 @@
   <include file="tiago.xml"/>
   <actuator>
     <!-- Arm actuators -->
-    <velocity name="arm_velocity_1_servo" joint="arm_1_joint" kv="5000" forcerange="-43 43"/>
-    <velocity name="arm_velocity_2_servo" joint="arm_2_joint" kv="100000" forcerange="-43 43"/>
-    <velocity name="arm_velocity_3_servo" joint="arm_3_joint" kv="5000" forcerange="-26 26"/>
-    <velocity name="arm_velocity_4_servo" joint="arm_4_joint" kv="50000" forcerange="-26 26"/>
+    <velocity name="arm_velocity_1_servo" joint="arm_1_joint" kv="5000"/>
+    <velocity name="arm_velocity_2_servo" joint="arm_2_joint" kv="100000"/>
+    <velocity name="arm_velocity_3_servo" joint="arm_3_joint" kv="5000"/>
+    <velocity name="arm_velocity_4_servo" joint="arm_4_joint" kv="50000"/>
     <!-- Wrist actuators -->
-    <velocity name="arm_velocity_5_servo" joint="arm_5_joint" kv="2000" forcerange="-3 3"/>
-    <velocity name="arm_velocity_6_servo" joint="arm_6_joint" kv="2000" forcerange="-6.6 6.6"/>
-    <velocity name="arm_velocity_7_servo" joint="arm_7_joint" kv="2000" forcerange="-6.6 6.6"/>
+    <velocity name="arm_velocity_5_servo" joint="arm_5_joint" kv="2000"/>
+    <velocity name="arm_velocity_6_servo" joint="arm_6_joint" kv="2000"/>
+    <velocity name="arm_velocity_7_servo" joint="arm_7_joint" kv="2000"/>
     <!-- End effector actuators -->
     <position name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
       forcerange="-5.197 5.197" kp="1000"/>
     <position name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
       forcerange="-5.197 5.197" kp="1000"/>
     <!-- Head actuators -->
-    <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
-    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
+    <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20"/>
+    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20"/>
     <!-- Torso actuators -->
-    <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="40000" forcerange="-2000 2000"/>
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="40000"/>
     <!-- Wheel actuators -->
-    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
-    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" kv="100"/>
+    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" kv="100"/>
   </actuator>
 
   <keyframe>
diff --git a/pal_tiago_dual/assets/arm/arm_11.stl b/pal_tiago_dual/assets/arm/arm_11.stl
deleted file mode 120000
index aa2bd0a6..00000000
--- a/pal_tiago_dual/assets/arm/arm_11.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_12.stl b/pal_tiago_dual/assets/arm/arm_12.stl
deleted file mode 120000
index aa2bd0a6..00000000
--- a/pal_tiago_dual/assets/arm/arm_12.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_13.stl b/pal_tiago_dual/assets/arm/arm_13.stl
deleted file mode 120000
index aa2bd0a6..00000000
--- a/pal_tiago_dual/assets/arm/arm_13.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_14.stl b/pal_tiago_dual/assets/arm/arm_14.stl
deleted file mode 120000
index aa2bd0a6..00000000
--- a/pal_tiago_dual/assets/arm/arm_14.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_1_collision.stl b/pal_tiago_dual/assets/arm/arm_1_collision.stl
deleted file mode 100644
index efc65cf3..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_1_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_1_collision1.stl b/pal_tiago_dual/assets/arm/arm_1_collision1.stl
deleted file mode 120000
index 6644c27b..00000000
--- a/pal_tiago_dual/assets/arm/arm_1_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_1_collision2.stl b/pal_tiago_dual/assets/arm/arm_1_collision2.stl
deleted file mode 120000
index 6644c27b..00000000
--- a/pal_tiago_dual/assets/arm/arm_1_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_1_collision3.stl b/pal_tiago_dual/assets/arm/arm_1_collision3.stl
deleted file mode 120000
index 6644c27b..00000000
--- a/pal_tiago_dual/assets/arm/arm_1_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_1_collision4.stl b/pal_tiago_dual/assets/arm/arm_1_collision4.stl
deleted file mode 120000
index 6644c27b..00000000
--- a/pal_tiago_dual/assets/arm/arm_1_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_1_color.png b/pal_tiago_dual/assets/arm/arm_1_color.png
deleted file mode 100644
index cc6aa057..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_1_color.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_1_normals.png b/pal_tiago_dual/assets/arm/arm_1_normals.png
deleted file mode 100644
index ed24c048..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_1_normals.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_1_specular.png b/pal_tiago_dual/assets/arm/arm_1_specular.png
deleted file mode 100644
index 70a875c5..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_1_specular.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_21.stl b/pal_tiago_dual/assets/arm/arm_21.stl
deleted file mode 120000
index 8f390298..00000000
--- a/pal_tiago_dual/assets/arm/arm_21.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_22.stl b/pal_tiago_dual/assets/arm/arm_22.stl
deleted file mode 120000
index 8f390298..00000000
--- a/pal_tiago_dual/assets/arm/arm_22.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_23.stl b/pal_tiago_dual/assets/arm/arm_23.stl
deleted file mode 120000
index 8f390298..00000000
--- a/pal_tiago_dual/assets/arm/arm_23.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_24.stl b/pal_tiago_dual/assets/arm/arm_24.stl
deleted file mode 120000
index 8f390298..00000000
--- a/pal_tiago_dual/assets/arm/arm_24.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_2_collision.stl b/pal_tiago_dual/assets/arm/arm_2_collision.stl
deleted file mode 100644
index 4e82551d..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_2_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_2_collision1.stl b/pal_tiago_dual/assets/arm/arm_2_collision1.stl
deleted file mode 120000
index fee9ca6d..00000000
--- a/pal_tiago_dual/assets/arm/arm_2_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_2_collision2.stl b/pal_tiago_dual/assets/arm/arm_2_collision2.stl
deleted file mode 120000
index fee9ca6d..00000000
--- a/pal_tiago_dual/assets/arm/arm_2_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_2_collision3.stl b/pal_tiago_dual/assets/arm/arm_2_collision3.stl
deleted file mode 120000
index fee9ca6d..00000000
--- a/pal_tiago_dual/assets/arm/arm_2_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_2_collision4.stl b/pal_tiago_dual/assets/arm/arm_2_collision4.stl
deleted file mode 120000
index fee9ca6d..00000000
--- a/pal_tiago_dual/assets/arm/arm_2_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_2_color.png b/pal_tiago_dual/assets/arm/arm_2_color.png
deleted file mode 100644
index a03b6ca0..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_2_color.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_2_normals.png b/pal_tiago_dual/assets/arm/arm_2_normals.png
deleted file mode 100644
index 1b90087d..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_2_normals.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_2_specular.png b/pal_tiago_dual/assets/arm/arm_2_specular.png
deleted file mode 100644
index 688a14ad..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_2_specular.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_31.stl b/pal_tiago_dual/assets/arm/arm_31.stl
deleted file mode 120000
index 4ef87622..00000000
--- a/pal_tiago_dual/assets/arm/arm_31.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_32.stl b/pal_tiago_dual/assets/arm/arm_32.stl
deleted file mode 120000
index 4ef87622..00000000
--- a/pal_tiago_dual/assets/arm/arm_32.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_33.stl b/pal_tiago_dual/assets/arm/arm_33.stl
deleted file mode 120000
index 4ef87622..00000000
--- a/pal_tiago_dual/assets/arm/arm_33.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_34.stl b/pal_tiago_dual/assets/arm/arm_34.stl
deleted file mode 120000
index 4ef87622..00000000
--- a/pal_tiago_dual/assets/arm/arm_34.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_3_collision.stl b/pal_tiago_dual/assets/arm/arm_3_collision.stl
deleted file mode 100644
index 3a9f0ee1..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_3_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_3_collision1.stl b/pal_tiago_dual/assets/arm/arm_3_collision1.stl
deleted file mode 120000
index e1394121..00000000
--- a/pal_tiago_dual/assets/arm/arm_3_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_3_collision2.stl b/pal_tiago_dual/assets/arm/arm_3_collision2.stl
deleted file mode 120000
index e1394121..00000000
--- a/pal_tiago_dual/assets/arm/arm_3_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_3_collision3.stl b/pal_tiago_dual/assets/arm/arm_3_collision3.stl
deleted file mode 120000
index e1394121..00000000
--- a/pal_tiago_dual/assets/arm/arm_3_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_3_collision4.stl b/pal_tiago_dual/assets/arm/arm_3_collision4.stl
deleted file mode 120000
index e1394121..00000000
--- a/pal_tiago_dual/assets/arm/arm_3_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_3_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_3_color.png b/pal_tiago_dual/assets/arm/arm_3_color.png
deleted file mode 100644
index 57d1d820..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_3_color.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_3_normals.png b/pal_tiago_dual/assets/arm/arm_3_normals.png
deleted file mode 100644
index b5315073..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_3_normals.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_3_specular.png b/pal_tiago_dual/assets/arm/arm_3_specular.png
deleted file mode 100644
index 86bece3c..00000000
Binary files a/pal_tiago_dual/assets/arm/arm_3_specular.png and /dev/null differ
diff --git a/pal_tiago_dual/assets/arm/arm_41.stl b/pal_tiago_dual/assets/arm/arm_41.stl
deleted file mode 120000
index 65ab7fd5..00000000
--- a/pal_tiago_dual/assets/arm/arm_41.stl
+++ /dev/null
@@ -1 +0,0 @@
-arm_4.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_42.stl b/pal_tiago_dual/assets/arm/arm_42.stl
deleted file mode 120000
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deleted file mode 120000
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deleted file mode 120000
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deleted file mode 120000
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deleted file mode 120000
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deleted file mode 120000
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deleted file mode 120000
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\ No newline at end of file
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deleted file mode 120000
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\ No newline at end of file
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deleted file mode 120000
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\ No newline at end of file
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deleted file mode 120000
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on.stl
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deleted file mode 120000
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--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on1.stl
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-cameras_add_on.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on2.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on2.stl
deleted file mode 120000
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--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on2.stl
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-cameras_add_on.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on3.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on3.stl
deleted file mode 120000
index 55f6cb4e..00000000
--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on3.stl
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-cameras_add_on.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on4.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on4.stl
deleted file mode 120000
index 55f6cb4e..00000000
--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on4.stl
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-cameras_add_on.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision.stl
deleted file mode 100644
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diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision1.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision1.stl
deleted file mode 120000
index 066be765..00000000
--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision1.stl
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-cameras_add_on_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision2.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision2.stl
deleted file mode 120000
index 066be765..00000000
--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision2.stl
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-cameras_add_on_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision3.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision3.stl
deleted file mode 120000
index 066be765..00000000
--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision3.stl
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision4.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision4.stl
deleted file mode 120000
index 066be765..00000000
--- a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision4.stl
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-cameras_add_on_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock1.stl b/pal_tiago_dual/assets/dock/dock1.stl
deleted file mode 120000
index eec8b865..00000000
--- a/pal_tiago_dual/assets/dock/dock1.stl
+++ /dev/null
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-dock.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock2.stl b/pal_tiago_dual/assets/dock/dock2.stl
deleted file mode 120000
index eec8b865..00000000
--- a/pal_tiago_dual/assets/dock/dock2.stl
+++ /dev/null
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-dock.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock3.stl b/pal_tiago_dual/assets/dock/dock3.stl
deleted file mode 120000
index eec8b865..00000000
--- a/pal_tiago_dual/assets/dock/dock3.stl
+++ /dev/null
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-dock.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock4.stl b/pal_tiago_dual/assets/dock/dock4.stl
deleted file mode 120000
index eec8b865..00000000
--- a/pal_tiago_dual/assets/dock/dock4.stl
+++ /dev/null
@@ -1 +0,0 @@
-dock.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock_collision1.stl b/pal_tiago_dual/assets/dock/dock_collision1.stl
deleted file mode 120000
index c2e04bf2..00000000
--- a/pal_tiago_dual/assets/dock/dock_collision1.stl
+++ /dev/null
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-dock_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock_collision2.stl b/pal_tiago_dual/assets/dock/dock_collision2.stl
deleted file mode 120000
index c2e04bf2..00000000
--- a/pal_tiago_dual/assets/dock/dock_collision2.stl
+++ /dev/null
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-dock_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock_collision3.stl b/pal_tiago_dual/assets/dock/dock_collision3.stl
deleted file mode 120000
index c2e04bf2..00000000
--- a/pal_tiago_dual/assets/dock/dock_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-dock_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/dock/dock_collision4.stl b/pal_tiago_dual/assets/dock/dock_collision4.stl
deleted file mode 120000
index c2e04bf2..00000000
--- a/pal_tiago_dual/assets/dock/dock_collision4.stl
+++ /dev/null
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-dock_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_abd_collision.stl b/pal_tiago_dual/assets/finger_abd_collision.stl
deleted file mode 100644
index 65df9485..00000000
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diff --git a/pal_tiago_dual/assets/finger_abd_collision1.stl b/pal_tiago_dual/assets/finger_abd_collision1.stl
deleted file mode 120000
index 16a669a6..00000000
--- a/pal_tiago_dual/assets/finger_abd_collision1.stl
+++ /dev/null
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-finger_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_abd_collision2.stl b/pal_tiago_dual/assets/finger_abd_collision2.stl
deleted file mode 120000
index 16a669a6..00000000
--- a/pal_tiago_dual/assets/finger_abd_collision2.stl
+++ /dev/null
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-finger_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_abd_collision3.stl b/pal_tiago_dual/assets/finger_abd_collision3.stl
deleted file mode 120000
index 16a669a6..00000000
--- a/pal_tiago_dual/assets/finger_abd_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_abd_collision4.stl b/pal_tiago_dual/assets/finger_abd_collision4.stl
deleted file mode 120000
index 16a669a6..00000000
--- a/pal_tiago_dual/assets/finger_abd_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_collision.stl b/pal_tiago_dual/assets/finger_flex_collision.stl
deleted file mode 100644
index e8736afc..00000000
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diff --git a/pal_tiago_dual/assets/finger_flex_collision1.stl b/pal_tiago_dual/assets/finger_flex_collision1.stl
deleted file mode 120000
index 6d40a7e8..00000000
--- a/pal_tiago_dual/assets/finger_flex_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_collision2.stl b/pal_tiago_dual/assets/finger_flex_collision2.stl
deleted file mode 120000
index 6d40a7e8..00000000
--- a/pal_tiago_dual/assets/finger_flex_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_collision3.stl b/pal_tiago_dual/assets/finger_flex_collision3.stl
deleted file mode 120000
index 6d40a7e8..00000000
--- a/pal_tiago_dual/assets/finger_flex_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_collision4.stl b/pal_tiago_dual/assets/finger_flex_collision4.stl
deleted file mode 120000
index 6d40a7e8..00000000
--- a/pal_tiago_dual/assets/finger_flex_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_tip_collision.stl b/pal_tiago_dual/assets/finger_flex_tip_collision.stl
deleted file mode 100644
index 8ae335a5..00000000
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diff --git a/pal_tiago_dual/assets/finger_flex_tip_collision1.stl b/pal_tiago_dual/assets/finger_flex_tip_collision1.stl
deleted file mode 120000
index 81aee6d8..00000000
--- a/pal_tiago_dual/assets/finger_flex_tip_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_tip_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_tip_collision2.stl b/pal_tiago_dual/assets/finger_flex_tip_collision2.stl
deleted file mode 120000
index 81aee6d8..00000000
--- a/pal_tiago_dual/assets/finger_flex_tip_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_tip_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_tip_collision3.stl b/pal_tiago_dual/assets/finger_flex_tip_collision3.stl
deleted file mode 120000
index 81aee6d8..00000000
--- a/pal_tiago_dual/assets/finger_flex_tip_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_tip_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/finger_flex_tip_collision4.stl b/pal_tiago_dual/assets/finger_flex_tip_collision4.stl
deleted file mode 120000
index 81aee6d8..00000000
--- a/pal_tiago_dual/assets/finger_flex_tip_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-finger_flex_tip_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link.stl b/pal_tiago_dual/assets/gripper/gripper_finger_link.stl
similarity index 100%
rename from pal_tiago_dual/assets/gripper_finger_link.stl
rename to pal_tiago_dual/assets/gripper/gripper_finger_link.stl
diff --git a/pal_tiago_dual/assets/gripper_link.stl b/pal_tiago_dual/assets/gripper/gripper_link.stl
similarity index 100%
rename from pal_tiago_dual/assets/gripper_link.stl
rename to pal_tiago_dual/assets/gripper/gripper_link.stl
diff --git a/pal_tiago_dual/assets/gripper_finger_link1.stl b/pal_tiago_dual/assets/gripper_finger_link1.stl
deleted file mode 120000
index ed7459f2..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link1.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link2.stl b/pal_tiago_dual/assets/gripper_finger_link2.stl
deleted file mode 120000
index ed7459f2..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link2.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link3.stl b/pal_tiago_dual/assets/gripper_finger_link3.stl
deleted file mode 120000
index ed7459f2..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link3.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link4.stl b/pal_tiago_dual/assets/gripper_finger_link4.stl
deleted file mode 120000
index ed7459f2..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link4.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision.stl b/pal_tiago_dual/assets/gripper_finger_link_collision.stl
deleted file mode 100644
index 9659a2c8..00000000
Binary files a/pal_tiago_dual/assets/gripper_finger_link_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision1.stl b/pal_tiago_dual/assets/gripper_finger_link_collision1.stl
deleted file mode 120000
index 08963b7c..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision2.stl b/pal_tiago_dual/assets/gripper_finger_link_collision2.stl
deleted file mode 120000
index 08963b7c..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision3.stl b/pal_tiago_dual/assets/gripper_finger_link_collision3.stl
deleted file mode 120000
index 08963b7c..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision4.stl b/pal_tiago_dual/assets/gripper_finger_link_collision4.stl
deleted file mode 120000
index 08963b7c..00000000
--- a/pal_tiago_dual/assets/gripper_finger_link_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_finger_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link1.stl b/pal_tiago_dual/assets/gripper_link1.stl
deleted file mode 120000
index 57c75ada..00000000
--- a/pal_tiago_dual/assets/gripper_link1.stl
+++ /dev/null
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-gripper_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link2.stl b/pal_tiago_dual/assets/gripper_link2.stl
deleted file mode 120000
index 57c75ada..00000000
--- a/pal_tiago_dual/assets/gripper_link2.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link3.stl b/pal_tiago_dual/assets/gripper_link3.stl
deleted file mode 120000
index 57c75ada..00000000
--- a/pal_tiago_dual/assets/gripper_link3.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link4.stl b/pal_tiago_dual/assets/gripper_link4.stl
deleted file mode 120000
index 57c75ada..00000000
--- a/pal_tiago_dual/assets/gripper_link4.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link_collision.stl b/pal_tiago_dual/assets/gripper_link_collision.stl
deleted file mode 100644
index 1bcfe4ea..00000000
Binary files a/pal_tiago_dual/assets/gripper_link_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/gripper_link_collision1.stl b/pal_tiago_dual/assets/gripper_link_collision1.stl
deleted file mode 120000
index 74b412ba..00000000
--- a/pal_tiago_dual/assets/gripper_link_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link_collision2.stl b/pal_tiago_dual/assets/gripper_link_collision2.stl
deleted file mode 120000
index 74b412ba..00000000
--- a/pal_tiago_dual/assets/gripper_link_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link_collision3.stl b/pal_tiago_dual/assets/gripper_link_collision3.stl
deleted file mode 120000
index 74b412ba..00000000
--- a/pal_tiago_dual/assets/gripper_link_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link_collision4.stl b/pal_tiago_dual/assets/gripper_link_collision4.stl
deleted file mode 120000
index 74b412ba..00000000
--- a/pal_tiago_dual/assets/gripper_link_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-gripper_link_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_11.stl b/pal_tiago_dual/assets/head/head_11.stl
deleted file mode 120000
index 0e0e860f..00000000
--- a/pal_tiago_dual/assets/head/head_11.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_12.stl b/pal_tiago_dual/assets/head/head_12.stl
deleted file mode 120000
index 0e0e860f..00000000
--- a/pal_tiago_dual/assets/head/head_12.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_13.stl b/pal_tiago_dual/assets/head/head_13.stl
deleted file mode 120000
index 0e0e860f..00000000
--- a/pal_tiago_dual/assets/head/head_13.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_14.stl b/pal_tiago_dual/assets/head/head_14.stl
deleted file mode 120000
index 0e0e860f..00000000
--- a/pal_tiago_dual/assets/head/head_14.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision.stl b/pal_tiago_dual/assets/head/head_1_collision.stl
deleted file mode 100644
index 7b36d1e3..00000000
Binary files a/pal_tiago_dual/assets/head/head_1_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/head/head_1_collision1.stl b/pal_tiago_dual/assets/head/head_1_collision1.stl
deleted file mode 120000
index de68fe68..00000000
--- a/pal_tiago_dual/assets/head/head_1_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision2.stl b/pal_tiago_dual/assets/head/head_1_collision2.stl
deleted file mode 120000
index de68fe68..00000000
--- a/pal_tiago_dual/assets/head/head_1_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision3.stl b/pal_tiago_dual/assets/head/head_1_collision3.stl
deleted file mode 120000
index de68fe68..00000000
--- a/pal_tiago_dual/assets/head/head_1_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision4.stl b/pal_tiago_dual/assets/head/head_1_collision4.stl
deleted file mode 120000
index de68fe68..00000000
--- a/pal_tiago_dual/assets/head/head_1_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_21.stl b/pal_tiago_dual/assets/head/head_21.stl
deleted file mode 120000
index 14106388..00000000
--- a/pal_tiago_dual/assets/head/head_21.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_22.stl b/pal_tiago_dual/assets/head/head_22.stl
deleted file mode 120000
index 14106388..00000000
--- a/pal_tiago_dual/assets/head/head_22.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_23.stl b/pal_tiago_dual/assets/head/head_23.stl
deleted file mode 120000
index 14106388..00000000
--- a/pal_tiago_dual/assets/head/head_23.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_24.stl b/pal_tiago_dual/assets/head/head_24.stl
deleted file mode 120000
index 14106388..00000000
--- a/pal_tiago_dual/assets/head/head_24.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision.stl b/pal_tiago_dual/assets/head/head_2_collision.stl
deleted file mode 100644
index 09d00f7e..00000000
Binary files a/pal_tiago_dual/assets/head/head_2_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/head/head_2_collision1.stl b/pal_tiago_dual/assets/head/head_2_collision1.stl
deleted file mode 120000
index c906ace3..00000000
--- a/pal_tiago_dual/assets/head/head_2_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision2.stl b/pal_tiago_dual/assets/head/head_2_collision2.stl
deleted file mode 120000
index c906ace3..00000000
--- a/pal_tiago_dual/assets/head/head_2_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision3.stl b/pal_tiago_dual/assets/head/head_2_collision3.stl
deleted file mode 120000
index c906ace3..00000000
--- a/pal_tiago_dual/assets/head/head_2_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision4.stl b/pal_tiago_dual/assets/head/head_2_collision4.stl
deleted file mode 120000
index c906ace3..00000000
--- a/pal_tiago_dual/assets/head/head_2_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna1.stl b/pal_tiago_dual/assets/objects/antenna1.stl
deleted file mode 120000
index 893b28e7..00000000
--- a/pal_tiago_dual/assets/objects/antenna1.stl
+++ /dev/null
@@ -1 +0,0 @@
-antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna2.stl b/pal_tiago_dual/assets/objects/antenna2.stl
deleted file mode 120000
index 893b28e7..00000000
--- a/pal_tiago_dual/assets/objects/antenna2.stl
+++ /dev/null
@@ -1 +0,0 @@
-antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna3.stl b/pal_tiago_dual/assets/objects/antenna3.stl
deleted file mode 120000
index 893b28e7..00000000
--- a/pal_tiago_dual/assets/objects/antenna3.stl
+++ /dev/null
@@ -1 +0,0 @@
-antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna4.stl b/pal_tiago_dual/assets/objects/antenna4.stl
deleted file mode 120000
index 893b28e7..00000000
--- a/pal_tiago_dual/assets/objects/antenna4.stl
+++ /dev/null
@@ -1 +0,0 @@
-antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover1.stl b/pal_tiago_dual/assets/objects/cover1.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/cover1.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover2.stl b/pal_tiago_dual/assets/objects/cover2.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/cover2.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover3.stl b/pal_tiago_dual/assets/objects/cover3.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/cover3.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover4.stl b/pal_tiago_dual/assets/objects/cover4.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/cover4.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover.stl b/pal_tiago_dual/assets/objects/high_resolution/cover.stl
deleted file mode 100644
index 7a789d59..00000000
Binary files a/pal_tiago_dual/assets/objects/high_resolution/cover.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover1.stl b/pal_tiago_dual/assets/objects/high_resolution/cover1.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/high_resolution/cover1.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover2.stl b/pal_tiago_dual/assets/objects/high_resolution/cover2.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/high_resolution/cover2.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover3.stl b/pal_tiago_dual/assets/objects/high_resolution/cover3.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/high_resolution/cover3.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover4.stl b/pal_tiago_dual/assets/objects/high_resolution/cover4.stl
deleted file mode 120000
index 4c1e9e37..00000000
--- a/pal_tiago_dual/assets/objects/high_resolution/cover4.stl
+++ /dev/null
@@ -1 +0,0 @@
-cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm.stl b/pal_tiago_dual/assets/palm.stl
deleted file mode 100644
index 4ef69e12..00000000
Binary files a/pal_tiago_dual/assets/palm.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/palm1.stl b/pal_tiago_dual/assets/palm1.stl
deleted file mode 120000
index f848bb0e..00000000
--- a/pal_tiago_dual/assets/palm1.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm2.stl b/pal_tiago_dual/assets/palm2.stl
deleted file mode 120000
index f848bb0e..00000000
--- a/pal_tiago_dual/assets/palm2.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm3.stl b/pal_tiago_dual/assets/palm3.stl
deleted file mode 120000
index f848bb0e..00000000
--- a/pal_tiago_dual/assets/palm3.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm4.stl b/pal_tiago_dual/assets/palm4.stl
deleted file mode 120000
index f848bb0e..00000000
--- a/pal_tiago_dual/assets/palm4.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision.stl b/pal_tiago_dual/assets/palm_collision.stl
deleted file mode 100644
index dde281c4..00000000
Binary files a/pal_tiago_dual/assets/palm_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/palm_collision1.stl b/pal_tiago_dual/assets/palm_collision1.stl
deleted file mode 120000
index 88125e90..00000000
--- a/pal_tiago_dual/assets/palm_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision2.stl b/pal_tiago_dual/assets/palm_collision2.stl
deleted file mode 120000
index 88125e90..00000000
--- a/pal_tiago_dual/assets/palm_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision3.stl b/pal_tiago_dual/assets/palm_collision3.stl
deleted file mode 120000
index 88125e90..00000000
--- a/pal_tiago_dual/assets/palm_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision4.stl b/pal_tiago_dual/assets/palm_collision4.stl
deleted file mode 120000
index 88125e90..00000000
--- a/pal_tiago_dual/assets/palm_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper.stl b/pal_tiago_dual/assets/sensors/bumper.stl
deleted file mode 100644
index a22653d7..00000000
Binary files a/pal_tiago_dual/assets/sensors/bumper.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/sensors/bumper1.stl b/pal_tiago_dual/assets/sensors/bumper1.stl
deleted file mode 120000
index d45663cc..00000000
--- a/pal_tiago_dual/assets/sensors/bumper1.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper2.stl b/pal_tiago_dual/assets/sensors/bumper2.stl
deleted file mode 120000
index d45663cc..00000000
--- a/pal_tiago_dual/assets/sensors/bumper2.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper3.stl b/pal_tiago_dual/assets/sensors/bumper3.stl
deleted file mode 120000
index d45663cc..00000000
--- a/pal_tiago_dual/assets/sensors/bumper3.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper4.stl b/pal_tiago_dual/assets/sensors/bumper4.stl
deleted file mode 120000
index d45663cc..00000000
--- a/pal_tiago_dual/assets/sensors/bumper4.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision.stl b/pal_tiago_dual/assets/sensors/bumper_collision.stl
deleted file mode 100644
index 636ccf77..00000000
Binary files a/pal_tiago_dual/assets/sensors/bumper_collision.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision1.stl b/pal_tiago_dual/assets/sensors/bumper_collision1.stl
deleted file mode 120000
index 85966b8c..00000000
--- a/pal_tiago_dual/assets/sensors/bumper_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision2.stl b/pal_tiago_dual/assets/sensors/bumper_collision2.stl
deleted file mode 120000
index 85966b8c..00000000
--- a/pal_tiago_dual/assets/sensors/bumper_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision3.stl b/pal_tiago_dual/assets/sensors/bumper_collision3.stl
deleted file mode 120000
index 85966b8c..00000000
--- a/pal_tiago_dual/assets/sensors/bumper_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision4.stl b/pal_tiago_dual/assets/sensors/bumper_collision4.stl
deleted file mode 120000
index 85966b8c..00000000
--- a/pal_tiago_dual/assets/sensors/bumper_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera.stl b/pal_tiago_dual/assets/sensors/elp_camera.stl
deleted file mode 100644
index 2999817e..00000000
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diff --git a/pal_tiago_dual/assets/sensors/elp_camera1.stl b/pal_tiago_dual/assets/sensors/elp_camera1.stl
deleted file mode 120000
index c79eb2f3..00000000
--- a/pal_tiago_dual/assets/sensors/elp_camera1.stl
+++ /dev/null
@@ -1 +0,0 @@
-elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera2.stl b/pal_tiago_dual/assets/sensors/elp_camera2.stl
deleted file mode 120000
index c79eb2f3..00000000
--- a/pal_tiago_dual/assets/sensors/elp_camera2.stl
+++ /dev/null
@@ -1 +0,0 @@
-elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera3.stl b/pal_tiago_dual/assets/sensors/elp_camera3.stl
deleted file mode 120000
index c79eb2f3..00000000
--- a/pal_tiago_dual/assets/sensors/elp_camera3.stl
+++ /dev/null
@@ -1 +0,0 @@
-elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera4.stl b/pal_tiago_dual/assets/sensors/elp_camera4.stl
deleted file mode 120000
index c79eb2f3..00000000
--- a/pal_tiago_dual/assets/sensors/elp_camera4.stl
+++ /dev/null
@@ -1 +0,0 @@
-elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug01.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug01.stl
deleted file mode 100644
index f6d27d08..00000000
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diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug011.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug011.stl
deleted file mode 120000
index 89b76bb4..00000000
--- a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug011.stl
+++ /dev/null
@@ -1 +0,0 @@
-hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug012.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug012.stl
deleted file mode 120000
index 89b76bb4..00000000
--- a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug012.stl
+++ /dev/null
@@ -1 +0,0 @@
-hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug013.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug013.stl
deleted file mode 120000
index 89b76bb4..00000000
--- a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug013.stl
+++ /dev/null
@@ -1 +0,0 @@
-hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug014.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug014.stl
deleted file mode 120000
index 89b76bb4..00000000
--- a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug014.stl
+++ /dev/null
@@ -1 +0,0 @@
-hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5511.stl b/pal_tiago_dual/assets/sensors/sick_tim5511.stl
deleted file mode 120000
index d75575fd..00000000
--- a/pal_tiago_dual/assets/sensors/sick_tim5511.stl
+++ /dev/null
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-sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5512.stl b/pal_tiago_dual/assets/sensors/sick_tim5512.stl
deleted file mode 120000
index d75575fd..00000000
--- a/pal_tiago_dual/assets/sensors/sick_tim5512.stl
+++ /dev/null
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-sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5513.stl b/pal_tiago_dual/assets/sensors/sick_tim5513.stl
deleted file mode 120000
index d75575fd..00000000
--- a/pal_tiago_dual/assets/sensors/sick_tim5513.stl
+++ /dev/null
@@ -1 +0,0 @@
-sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5514.stl b/pal_tiago_dual/assets/sensors/sick_tim5514.stl
deleted file mode 120000
index d75575fd..00000000
--- a/pal_tiago_dual/assets/sensors/sick_tim5514.stl
+++ /dev/null
@@ -1 +0,0 @@
-sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf05.stl b/pal_tiago_dual/assets/sensors/srf05.stl
deleted file mode 100644
index 566c942f..00000000
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diff --git a/pal_tiago_dual/assets/sensors/srf051.stl b/pal_tiago_dual/assets/sensors/srf051.stl
deleted file mode 120000
index 0ef210ae..00000000
--- a/pal_tiago_dual/assets/sensors/srf051.stl
+++ /dev/null
@@ -1 +0,0 @@
-srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf052.stl b/pal_tiago_dual/assets/sensors/srf052.stl
deleted file mode 120000
index 0ef210ae..00000000
--- a/pal_tiago_dual/assets/sensors/srf052.stl
+++ /dev/null
@@ -1 +0,0 @@
-srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf053.stl b/pal_tiago_dual/assets/sensors/srf053.stl
deleted file mode 120000
index 0ef210ae..00000000
--- a/pal_tiago_dual/assets/sensors/srf053.stl
+++ /dev/null
@@ -1 +0,0 @@
-srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf054.stl b/pal_tiago_dual/assets/sensors/srf054.stl
deleted file mode 120000
index 0ef210ae..00000000
--- a/pal_tiago_dual/assets/sensors/srf054.stl
+++ /dev/null
@@ -1 +0,0 @@
-srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor.stl b/pal_tiago_dual/assets/sensors/structure_sensor.stl
deleted file mode 100644
index cdfc72f0..00000000
Binary files a/pal_tiago_dual/assets/sensors/structure_sensor.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor1.stl b/pal_tiago_dual/assets/sensors/structure_sensor1.stl
deleted file mode 120000
index 38cd3c6a..00000000
--- a/pal_tiago_dual/assets/sensors/structure_sensor1.stl
+++ /dev/null
@@ -1 +0,0 @@
-structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor2.stl b/pal_tiago_dual/assets/sensors/structure_sensor2.stl
deleted file mode 120000
index 38cd3c6a..00000000
--- a/pal_tiago_dual/assets/sensors/structure_sensor2.stl
+++ /dev/null
@@ -1 +0,0 @@
-structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor3.stl b/pal_tiago_dual/assets/sensors/structure_sensor3.stl
deleted file mode 120000
index 38cd3c6a..00000000
--- a/pal_tiago_dual/assets/sensors/structure_sensor3.stl
+++ /dev/null
@@ -1 +0,0 @@
-structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor4.stl b/pal_tiago_dual/assets/sensors/structure_sensor4.stl
deleted file mode 120000
index 38cd3c6a..00000000
--- a/pal_tiago_dual/assets/sensors/structure_sensor4.stl
+++ /dev/null
@@ -1 +0,0 @@
-structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/xtion_pro_live/xtion_pro_live.png b/pal_tiago_dual/assets/sensors/xtion_pro_live/xtion_pro_live.png
deleted file mode 100644
index b51bb875..00000000
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diff --git a/pal_tiago_dual/assets/thumb_abd_collision.stl b/pal_tiago_dual/assets/thumb_abd_collision.stl
deleted file mode 100644
index 91994f75..00000000
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diff --git a/pal_tiago_dual/assets/thumb_abd_collision1.stl b/pal_tiago_dual/assets/thumb_abd_collision1.stl
deleted file mode 120000
index d5fcbb7e..00000000
--- a/pal_tiago_dual/assets/thumb_abd_collision1.stl
+++ /dev/null
@@ -1 +0,0 @@
-thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/thumb_abd_collision2.stl b/pal_tiago_dual/assets/thumb_abd_collision2.stl
deleted file mode 120000
index d5fcbb7e..00000000
--- a/pal_tiago_dual/assets/thumb_abd_collision2.stl
+++ /dev/null
@@ -1 +0,0 @@
-thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/thumb_abd_collision3.stl b/pal_tiago_dual/assets/thumb_abd_collision3.stl
deleted file mode 120000
index d5fcbb7e..00000000
--- a/pal_tiago_dual/assets/thumb_abd_collision3.stl
+++ /dev/null
@@ -1 +0,0 @@
-thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/thumb_abd_collision4.stl b/pal_tiago_dual/assets/thumb_abd_collision4.stl
deleted file mode 120000
index d5fcbb7e..00000000
--- a/pal_tiago_dual/assets/thumb_abd_collision4.stl
+++ /dev/null
@@ -1 +0,0 @@
-thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix1.stl b/pal_tiago_dual/assets/torso/torso_fix1.stl
deleted file mode 120000
index 149ea81d..00000000
--- a/pal_tiago_dual/assets/torso/torso_fix1.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix2.stl b/pal_tiago_dual/assets/torso/torso_fix2.stl
deleted file mode 120000
index 149ea81d..00000000
--- a/pal_tiago_dual/assets/torso/torso_fix2.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix3.stl b/pal_tiago_dual/assets/torso/torso_fix3.stl
deleted file mode 120000
index 149ea81d..00000000
--- a/pal_tiago_dual/assets/torso/torso_fix3.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix4.stl b/pal_tiago_dual/assets/torso/torso_fix4.stl
deleted file mode 120000
index 149ea81d..00000000
--- a/pal_tiago_dual/assets/torso/torso_fix4.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core.stl
deleted file mode 100644
index 85bf0abe..00000000
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diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core1.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core1.stl
deleted file mode 120000
index 5a728a9b..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_collision_core1.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core2.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core2.stl
deleted file mode 120000
index 5a728a9b..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_collision_core2.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core3.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core3.stl
deleted file mode 120000
index 5a728a9b..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_collision_core3.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core4.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core4.stl
deleted file mode 120000
index 5a728a9b..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_collision_core4.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm1.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm1.stl
deleted file mode 120000
index 279a9f0a..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm1.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm2.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm2.stl
deleted file mode 120000
index 279a9f0a..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm2.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm3.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm3.stl
deleted file mode 120000
index 279a9f0a..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm3.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm4.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm4.stl
deleted file mode 120000
index 279a9f0a..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm4.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen.stl
deleted file mode 100644
index a841ab03..00000000
Binary files a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen1.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen1.stl
deleted file mode 120000
index 5e2aafaa..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen1.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen2.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen2.stl
deleted file mode 120000
index 5e2aafaa..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen2.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen3.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen3.stl
deleted file mode 120000
index 5e2aafaa..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen3.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen4.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen4.stl
deleted file mode 120000
index 5e2aafaa..00000000
--- a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen4.stl
+++ /dev/null
@@ -1 +0,0 @@
-torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link.stl b/pal_tiago_dual/assets/wheels/suspension_front_link.stl
deleted file mode 100644
index 92381df3..00000000
Binary files a/pal_tiago_dual/assets/wheels/suspension_front_link.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link1.stl b/pal_tiago_dual/assets/wheels/suspension_front_link1.stl
deleted file mode 120000
index 8046eef3..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_front_link1.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link2.stl b/pal_tiago_dual/assets/wheels/suspension_front_link2.stl
deleted file mode 120000
index 8046eef3..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_front_link2.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link3.stl b/pal_tiago_dual/assets/wheels/suspension_front_link3.stl
deleted file mode 120000
index 8046eef3..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_front_link3.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link4.stl b/pal_tiago_dual/assets/wheels/suspension_front_link4.stl
deleted file mode 120000
index 8046eef3..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_front_link4.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link.stl
deleted file mode 100644
index 37e6eb63..00000000
Binary files a/pal_tiago_dual/assets/wheels/suspension_rear_link.stl and /dev/null differ
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link1.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link1.stl
deleted file mode 120000
index 6e329116..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_rear_link1.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link2.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link2.stl
deleted file mode 120000
index 6e329116..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_rear_link2.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link3.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link3.stl
deleted file mode 120000
index 6e329116..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_rear_link3.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link4.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link4.stl
deleted file mode 120000
index 6e329116..00000000
--- a/pal_tiago_dual/assets/wheels/suspension_rear_link4.stl
+++ /dev/null
@@ -1 +0,0 @@
-suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link1.stl b/pal_tiago_dual/assets/wheels/wheel_link1.stl
deleted file mode 120000
index a68bc101..00000000
--- a/pal_tiago_dual/assets/wheels/wheel_link1.stl
+++ /dev/null
@@ -1 +0,0 @@
-wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link2.stl b/pal_tiago_dual/assets/wheels/wheel_link2.stl
deleted file mode 120000
index a68bc101..00000000
--- a/pal_tiago_dual/assets/wheels/wheel_link2.stl
+++ /dev/null
@@ -1 +0,0 @@
-wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link3.stl b/pal_tiago_dual/assets/wheels/wheel_link3.stl
deleted file mode 120000
index a68bc101..00000000
--- a/pal_tiago_dual/assets/wheels/wheel_link3.stl
+++ /dev/null
@@ -1 +0,0 @@
-wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link4.stl b/pal_tiago_dual/assets/wheels/wheel_link4.stl
deleted file mode 120000
index a68bc101..00000000
--- a/pal_tiago_dual/assets/wheels/wheel_link4.stl
+++ /dev/null
@@ -1 +0,0 @@
-wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/tiago_dual.xml b/pal_tiago_dual/tiago_dual.xml
index dd501862..7dfb0945 100644
--- a/pal_tiago_dual/tiago_dual.xml
+++ b/pal_tiago_dual/tiago_dual.xml
@@ -8,49 +8,35 @@
     <material name="black" rgba="0 0 0 1"/>
     <material name="gray10" rgba="0.1 0.1 0.1 1"/>
     <material name="gray25" rgba="0.25098 0.25098 0.25098 1"/>
-    <material name="gray70" rgba="0.7 0.7 0.7 1"/>
     <material name="gray75" rgba="0.75294 0.75294 0.75294 1"/>
     <material name="mercury" rgba="0.9 0.9 0.9 1"/>
     <material name="white" rgba="1 1 1 1"/>
-    <material name="orange" rgba="1 0.487 0 1"/>
-    <material name="light_blue" rgba="0.79216 0.81961 0.93333 1"/>
 
-    <mesh file="sensors/sick_tim5511.stl"/>
-    <mesh file="sensors/sick_tim5512.stl"/>
+    <mesh file="sensors/sick_tim551.stl"/>
     <mesh file="base/base_link.stl"/>
     <mesh file="base/base_dock_link.stl"/>
-    <mesh file="base/base_antena_link1.stl"/>
-    <mesh file="base/base_antena_link2.stl" scale="1 -1 1"/>
-    <mesh file="wheels/suspension_front_link1.stl"/>
-    <mesh file="wheels/wheel_link1.stl"/>
-    <mesh file="wheels/suspension_front_link2.stl" scale="1 -1 1"/>
-    <mesh file="wheels/wheel_link2.stl" scale="1 1 -1"/>
-    <mesh file="wheels/suspension_rear_link1.stl"/>
-    <mesh file="wheels/wheel_link3.stl"/>
-    <mesh file="wheels/suspension_rear_link2.stl" scale="1 -1 1"/>
-    <mesh file="wheels/wheel_link4.stl" scale="1 1 -1"/>
+    <mesh file="objects/antenna.stl"/>
+    <mesh name="wheel_link_right" file="wheels/wheel_link.stl"/>
+    <mesh name="wheel_link_left" file="wheels/wheel_link.stl" scale="1 1 -1"/>
     <mesh file="torso/torso_fix.stl"/>
     <mesh file="torso/torso_lift_dual_arm.stl"/>
     <mesh file="head/head_1.stl"/>
     <mesh file="head/head_2.stl"/>
-    <mesh file="arm/arm_11.stl" scale="1 -1 -1"/>
-    <mesh file="arm/arm_21.stl" scale="1 1 -1"/>
-    <mesh file="arm/arm_31.stl" scale="1 1 -1"/>
-    <mesh file="arm/arm_41.stl" scale="-1 -1 -1"/>
-    <mesh file="arm/arm_5-wrist-20171.stl" scale="-1 -1 -1"/>
-    <mesh file="arm/arm_6-wrist-20171.stl" scale="-1 1 1"/>
-    <mesh file="gripper_link1.stl"/>
-    <mesh file="gripper_finger_link1.stl" scale="-1 -1 1"/>
-    <mesh file="gripper_finger_link2.stl"/>
-    <mesh file="arm/arm_12.stl" scale="1 -1 1"/>
-    <mesh file="arm/arm_22.stl"/>
-    <mesh file="arm/arm_32.stl"/>
-    <mesh file="arm/arm_42.stl"/>
-    <mesh file="arm/arm_5-wrist-20172.stl"/>
-    <mesh file="arm/arm_6-wrist-20172.stl"/>
-    <mesh file="gripper_link2.stl"/>
-    <mesh file="gripper_finger_link3.stl" scale="-1 -1 1"/>
-    <mesh file="gripper_finger_link4.stl"/>
+    <mesh name="arm_left_1" file="arm/arm_1.stl" scale="1 -1 -1"/>
+    <mesh name="arm_left_2" file="arm/arm_2.stl" scale="1 1 -1"/>
+    <mesh name="arm_left_3" file="arm/arm_3.stl" scale="1 1 -1"/>
+    <mesh name="arm_left_4" file="arm/arm_4.stl" scale="-1 -1 -1"/>
+    <mesh name="arm_left_5" file="arm/arm_5-wrist-2017.stl" scale="-1 -1 -1"/>
+    <mesh name="arm_left_6" file="arm/arm_6-wrist-2017.stl" scale="-1 1 1"/>
+    <mesh name="arm_right_1" file="arm/arm_1.stl" scale="1 -1 1"/>
+    <mesh name="arm_right_2" file="arm/arm_2.stl"/>
+    <mesh name="arm_right_3" file="arm/arm_3.stl"/>
+    <mesh name="arm_right_4" file="arm/arm_4.stl"/>
+    <mesh name="arm_right_5" file="arm/arm_5-wrist-2017.stl"/>
+    <mesh name="arm_right_6" file="arm/arm_6-wrist-2017.stl"/>
+    <mesh file="gripper/gripper_link.stl"/>
+    <mesh name="gripper_right_finger_link" file="gripper/gripper_finger_link.stl" scale="-1 -1 1"/>
+    <mesh name="gripper_left_finger_link" file="gripper/gripper_finger_link.stl"/>
   </asset>
 
   <default class="main">
@@ -68,102 +54,95 @@
   <worldbody>
     <body name="base_link">
       <joint name="reference" type="free"/>
-      <!-- Base link inertia was manually added from urdf code -->
-      <!-- <mass value="34.047"/> -->
-      <!-- <inertia ixx="0.22777" ixy="0.00035979" ixz="0.00015269" iyy="0.29991" iyz="1.7872E-05" izz="0.46036"/> -->
       <inertial pos="-0.00511 -0.00037 0.13715" mass="59.53854" diaginertia="2.326 2.585 3.471"/>
       <geom pos="0 0 0.0762" material="gray75" mesh="base_link"/>
-      <geom pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" material="gray10" mesh="sick_tim5511"/>
-      <geom pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" material="gray10" mesh="sick_tim5512"/>
+      <geom pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" material="gray10" mesh="sick_tim551"/>
+      <geom pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" material="gray10" mesh="sick_tim551"/>
       <geom pos="0.3535 0 0.1358" material="gray25" mesh="base_dock_link"/>
-      <geom pos="-0.2015 -0.13 0.2927" material="gray75" mesh="base_antena_link1"/>
-      <geom pos="-0.2015 0.13 0.2927" material="gray75" mesh="base_antena_link2"/>
-      <geom pos="0.244 -0.1725 0.0762" quat="1 0 0 -1" material="light_blue" mesh="suspension_front_link1"/>
-      <geom pos="0.244 0.1725 0.0762" quat="1 0 0 1" material="light_blue" mesh="suspension_front_link2"/>
-      <geom pos="-0.244 -0.1725 0.0762" quat="1 0 0 -1" material="light_blue" mesh="suspension_rear_link1"/>
-      <geom pos="-0.244 0.1725 0.0762" quat="1 0 0 1" material="light_blue" mesh="suspension_rear_link2"/>
+      <geom pos="-0.2015 -0.13 0.2927" material="black" mesh="antenna"/>
+      <geom pos="-0.2015 0.13 0.2927" material="black" mesh="antenna"/>
       <geom pos="-0.062 0 0.2692" material="mercury" mesh="torso_fix"/>
       <geom size="0.09 0.1 0.275" pos="-0.062 0 0.5462" type="box" material="gray10"/>
       <body name="wheel_front_right_link" pos="0.244 -0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
-        <joint name="wheel_front_right_joint"/>
-        <geom material="gray10" mesh="wheel_link1" conaffinity="0"/>
+        <joint name="wheel_front_right_joint" actuatorfrcrange="-400 400"/>
+        <geom material="gray10" mesh="wheel_link_right" conaffinity="0"/>
         <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
       <body name="wheel_front_left_link" pos="0.244 0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
-        <joint name="wheel_front_left_joint"/>
-        <geom material="gray10" mesh="wheel_link2" conaffinity="0"/>
+        <joint name="wheel_front_left_joint" actuatorfrcrange="-400 400"/>
+        <geom material="gray10" mesh="wheel_link_left" conaffinity="0"/>
         <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
       <body name="wheel_rear_right_link" pos="-0.244 -0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
-        <joint name="wheel_rear_right_joint"/>
-        <geom material="gray10" mesh="wheel_link3" conaffinity="0"/>
+        <joint name="wheel_rear_right_joint" actuatorfrcrange="-400 400"/>
+        <geom material="gray10" mesh="wheel_link_right" conaffinity="0"/>
         <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
       <body name="wheel_rear_left_link" pos="-0.244 0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
         <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
-        <joint name="wheel_rear_left_joint"/>
-        <geom material="gray10" mesh="wheel_link4" conaffinity="0"/>
+        <joint name="wheel_rear_left_joint" actuatorfrcrange="-400 400"/>
+        <geom material="gray10" mesh="wheel_link_left" conaffinity="0"/>
         <geom type="cylinder" size="0.0762 0.025" group="3"/>
       </body>
       <body name="torso_lift_link" pos="-0.062 0 0.8662">
         <inertial pos="0.039536 -0.002841 -0.190987" mass="7.338946" diaginertia="0.229088 0.245188 0.092397"/>
-        <joint name="torso_lift_joint" type="slide" range="0 0.35" damping="1000"/>
+        <joint name="torso_lift_joint" type="slide" range="0 0.35" actuatorfrcrange="-500 500" damping="1000"/>
         <geom material="white" mesh="torso_lift_dual_arm"/>
         <body name="head_1_link" pos="0.182 0 0">
           <inertial pos="-0.00508 0.00237 0.07229" mass="0.6222" diaginertia="0.00140223 0.00121968 0.000861083"/>
-          <joint name="head_1_joint" range="-1.309 1.309" damping="0.5"/>
+          <joint name="head_1_joint" range="-1.309 1.309" actuatorfrcrange="-5.197 5.197" damping="0.5"/>
           <geom material="white" mesh="head_1"/>
           <body name="head_2_link" pos="0.005 0 0.098" quat="1 1 0 0">
             <inertial pos="0.0558274 0.0609987 1.58542e-05" mass="0.88693" diaginertia="0.00554181 0.00436261 0.00347586"/>
-            <joint name="head_2_joint" range="-1.0472 0.785398" damping="0.5"/>
+            <joint name="head_2_joint" range="-1.0472 0.785398" actuatorfrcrange="-5.197 5.197" damping="0.5"/>
             <geom material="white" mesh="head_2"/>
           </body>
         </body>
         <body name="arm_left_1_link" pos="0.02556 0.19 -0.171" quat="0 1 1 0" childclass="arm">
           <inertial pos="0.061191 -0.022397 0.012835" mass="1.56343" diaginertia="0.00510233 0.00510233 0.00510233"/>
-          <joint name="arm_left_1_joint" range="-1.1781 1.5708" damping="40"/>
-          <geom material="white" mesh="arm_11"/>
+          <joint name="arm_left_1_joint" range="-1.1781 1.5708" actuatorfrcrange="-43 43" damping="40"/>
+          <geom material="white" mesh="arm_left_1"/>
           <body name="arm_left_2_link" pos="0.125 -0.0195 0.031" quat="1 1 0 0">
             <inertial pos="0.030432 0.000229 0.005942" mass="1.8004" diaginertia="0.00437039 0.00432895 0.00178367"/>
-            <joint name="arm_left_2_joint" range="-1.1781 1.5708" damping="40"/>
-            <geom material="gray10" mesh="arm_21"/>
+            <joint name="arm_left_2_joint" range="-1.1781 1.5708" actuatorfrcrange="-43 43" damping="40"/>
+            <geom material="gray10" mesh="arm_left_2"/>
             <body name="arm_left_3_link" pos="0.0895 0 -0.0015" quat="0.5 0.5 0.5 0.5">
               <inertial pos="0.007418 -0.004361 0.134194" mass="1.8" diaginertia="0.0199798 0.0197147 0.00264646"/>
-              <joint name="arm_left_3_joint" range="-0.785398 3.92699" damping="40"/>
-              <geom material="gray10" mesh="arm_31"/>
+              <joint name="arm_left_3_joint" range="-0.785398 3.92699" actuatorfrcrange="-26 26" damping="40"/>
+              <geom material="gray10" mesh="arm_left_3"/>
               <body name="arm_left_4_link" pos="-0.02 -0.027 0.222" quat="0.5 0.5 -0.5 0.5">
                 <inertial pos="0.095658 -0.014666 -0.018133" mass="1.4327" diaginertia="0.002040 0.008424 0.008686"/>
-                <joint name="arm_left_4_joint" range="-0.392699 2.35619" damping="40"/>
-                <geom material="gray10" mesh="arm_41"/>
+                <joint name="arm_left_4_joint" range="-0.392699 2.35619" actuatorfrcrange="-26 26" damping="40"/>
+                <geom material="gray10" mesh="arm_left_4"/>
                 <body name="arm_left_5_link" pos="0.162 -0.02 -0.027" quat="1 0 -1 0">
                   <inertial pos="0.001078 -0.000151 0.077173" mass="1.65582" diaginertia="0.00614362 0.00564 0.001797"/>
-                  <joint name="arm_left_5_joint" range="-2.0944 2.0944" damping="1"/>
-                  <geom material="mercury" mesh="arm_5-wrist-20171"/>
+                  <joint name="arm_left_5_joint" range="-2.0944 2.0944" actuatorfrcrange="-3 3" damping="1"/>
+                  <geom material="mercury" mesh="arm_left_5"/>
                   <body name="arm_left_6_link" pos="0 0 -0.15" quat="0.5 -0.5 -0.5 -0.5">
                     <inertial pos="-0.000153 -0.003122 0.000183" mass="0.370063" diaginertia="0.000215 0.000174828 0.000169172"/>
-                    <joint name="arm_left_6_joint" range="-1.41372 1.41372" damping="1"/>
-                    <geom material="mercury" mesh="arm_6-wrist-20171"/>
+                    <joint name="arm_left_6_joint" range="-1.41372 1.41372" actuatorfrcrange="-6.6 6.6" damping="1"/>
+                    <geom material="mercury" mesh="arm_left_6"/>
                     <body name="arm_left_7_link" quat="0.5 0.5 0.5 0.5">
                       <inertial pos="0.000156301 0.000155213 -0.07437" mass="1.13701" diaginertia="0.00313273 0.00277743 0.000778245"/>
-                      <joint name="arm_left_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <joint name="arm_left_7_joint" range="-2.0944 2.0944" actuatorfrcrange="-6.6 6.6" damping="1"/>
                       <geom size="0.005 0.0025" pos="0 0 -0.047" quat="0 -1 1 0" type="cylinder" material="mercury"/>
                       <geom size="0.0225 0.00785" pos="0 0 -0.05385" quat="0 0 1 0" type="cylinder" material="mercury"/>
                       <geom size="0.025 0.004875" pos="0 0 -0.066575" quat="0 -1 1 0" type="cylinder" material="gray10"/>
-                      <geom pos="0 0 -0.076575" quat="1 0 0 -1" material="white" mesh="gripper_link1"/>
+                      <geom pos="0 0 -0.076575" quat="1 0 0 -1" material="white" mesh="gripper_link"/>
                       <body name="gripper_left_right_finger_link" pos="0 0 -0.076575" quat="1 0 0 -1">
                         <inertial pos="0.008658 0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
                         <joint name="gripper_left_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
                           damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_right_finger_link"/>
                       </body>
                       <body name="gripper_left_left_finger_link" pos="0 0 -0.076575" quat="1 0 0 -1">
                         <inertial pos="-0.008658 -0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
                         <joint name="gripper_left_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
                           damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link2"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_left_finger_link"/>
                       </body>
                     </body>
                   </body>
@@ -174,46 +153,46 @@
         </body>
         <body name="arm_right_1_link" pos="0.02556 -0.19 -0.171" quat="1 0 0 -1" childclass="arm">
           <inertial pos="0.061191 -0.022397 -0.012835" mass="1.56343" diaginertia="0.00510233 0.00510233 0.00510233"/>
-          <joint name="arm_right_1_joint" range="-1.1781 1.5708" damping="40"/>
-          <geom material="white" mesh="arm_12"/>
+          <joint name="arm_right_1_joint" range="-1.1781 1.5708" actuatorfrcrange="-43 43" damping="40"/>
+          <geom material="white" mesh="arm_right_1"/>
           <body name="arm_right_2_link" pos="0.125 -0.0195 -0.031" quat="1 -1 0 0">
             <inertial pos="0.030432 0.000229 -0.005942" mass="1.8004" diaginertia="0.00437229 0.00432701 0.0017837"/>
-            <joint name="arm_right_2_joint" range="-1.1781 1.5708" damping="40"/>
-            <geom material="gray10" mesh="arm_22"/>
+            <joint name="arm_right_2_joint" range="-1.1781 1.5708" actuatorfrcrange="-43 43" damping="40"/>
+            <geom material="gray10" mesh="arm_right_2"/>
             <body name="arm_right_3_link" pos="0.0895 0 -0.0015" quat="0.5 -0.5 -0.5 0.5">
               <inertial pos="0.007418 -0.004361 -0.134194" mass="1.8" diaginertia="0.0200771 0.0196154 0.00264853"/>
-              <joint name="arm_right_3_joint" range="-3.53429 1.5708" damping="40"/>
-              <geom material="gray10" mesh="arm_32"/>
+              <joint name="arm_right_3_joint" range="-3.53429 1.5708" actuatorfrcrange="-26 26" damping="40"/>
+              <geom material="gray10" mesh="arm_right_3"/>
               <body name="arm_right_4_link" pos="-0.02 -0.027 -0.222" quat="0.5 -0.5 -0.5 -0.5">
                 <inertial pos="-0.095658 0.014666 0.018133" mass="1.4327" diaginertia="0.002040 0.008424 0.008686"/>
-                <joint name="arm_right_4_joint" range="-0.392699 2.35619" damping="40"/>
-                <geom material="gray10" mesh="arm_42"/>
+                <joint name="arm_right_4_joint" range="-0.392699 2.35619" actuatorfrcrange="-26 26" damping="40"/>
+                <geom material="gray10" mesh="arm_right_4"/>
                 <body name="arm_right_5_link" pos="-0.162 0.02 0.027" quat="1 0 -1 0">
                   <inertial pos="0.001078 -0.000151 -0.077173" mass="0.935914" diaginertia="0.00103619 0.000794527 0.000439824"/>
-                  <joint name="arm_right_5_joint" range="-2.0944 2.0944" damping="1"/>
-                  <geom material="mercury" mesh="arm_5-wrist-20172"/>
+                  <joint name="arm_right_5_joint" range="-2.0944 2.0944" actuatorfrcrange="-3 3" damping="1"/>
+                  <geom material="mercury" mesh="arm_right_5"/>
                   <body name="arm_right_6_link" pos="0 0 0.15" quat="0.5 -0.5 -0.5 -0.5">
                     <inertial pos="-0.000153 -0.003122 0.000183" mass="0.302758" diaginertia="3.85419e-05 3.33205e-05 3.29226e-05"/>
-                    <joint name="arm_right_6_joint" range="-1.41372 1.41372" damping="1"/>
-                    <geom material="mercury" mesh="arm_6-wrist-20172"/>
+                    <joint name="arm_right_6_joint" range="-1.41372 1.41372" actuatorfrcrange="-6.6 6.6" damping="1"/>
+                    <geom material="mercury" mesh="arm_right_6"/>
                     <body name="arm_right_7_link" quat="0.5 0.5 0.5 0.5">
                       <inertial pos="-0.000173894 0.000176395 0.0817355" mass="1.00276" diaginertia="0.0025841 0.0022568 0.000746434"/>
-                      <joint name="arm_right_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <joint name="arm_right_7_joint" range="-2.0944 2.0944" actuatorfrcrange="-6.6 6.6" damping="1"/>
                       <geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder" material="mercury"/>
                       <geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" material="mercury"/>
                       <geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder" material="gray10"/>
-                      <geom pos="0 0 0.076575" quat="0 -1 1 0" material="white" mesh="gripper_link2"/>
+                      <geom pos="0 0 0.076575" quat="0 -1 1 0" material="white" mesh="gripper_link"/>
                       <body name="gripper_right_right_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
                         <inertial pos="0.008658 0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
                         <joint name="gripper_right_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
                           damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link3"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_right_finger_link"/>
                       </body>
                       <body name="gripper_right_left_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
                         <inertial pos="-0.008658 -0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
                         <joint name="gripper_right_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
                           damping="1"/>
-                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link4"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_left_finger_link"/>
                       </body>
                     </body>
                   </body>
diff --git a/pal_tiago_dual/tiago_dual_motor.xml b/pal_tiago_dual/tiago_dual_motor.xml
index f7beb22c..327dff0f 100644
--- a/pal_tiago_dual/tiago_dual_motor.xml
+++ b/pal_tiago_dual/tiago_dual_motor.xml
@@ -3,36 +3,36 @@
   <include file="tiago_dual.xml"/>
   <actuator>
     <!-- Omni base actuators -->
-    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000"/>
+    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000"/>
+    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000"/>
+    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000"/>
     
     <!-- Torso actuator -->
-    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="1.0" forcerange="-2000 2000" />
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000"/>
     <!-- Head actuators -->
-    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="1.0" forcerange="-5.197 5.197" />
-    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="1.0" forcerange="-2.77 2.77" />
+    <position name="head_1_joint_position" joint="head_1_joint" kp="20"/>
+    <position name="head_2_joint_position" joint="head_2_joint" kp="20"/>
 
     <!-- Left arm actuators -->
-    <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" forcerange="-43.0 43.0" />
-    <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" forcerange="-43.0 43.0" />
-    <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" forcerange="-26 26" />
-    <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" forcerange="-26 26" />
-    <motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" forcerange="-3 3" />
-    <motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" forcerange="-6.6 6.6" />
-    <motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" forcerange="-6.6 6.6" />
+    <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint"/>
+    <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint"/>
+    <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint"/>
+    <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint"/>
+    <motor name="arm_left_5_joint_torque" joint="arm_left_5_joint"/>
+    <motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" />
+    <motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" />
     <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" />
     <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" />
 
     <!-- Right arm actuators -->
-    <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" forcerange="-43.0 43.0" />
-    <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" forcerange="-43.0 43.0" />
-    <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" forcerange="-26 26" />
-    <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" forcerange="-26 26" />
-    <motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" forcerange="-3 3" />
-    <motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" forcerange="-6.6 6.6" />
-    <motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" forcerange="-6.6 6.6" />
+    <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" />
+    <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" />
+    <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" />
+    <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" />
+    <motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" />
+    <motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" />
+    <motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" />
     <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999"/>
     <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999"/>
   </actuator>
diff --git a/pal_tiago_dual/tiago_dual_position.xml b/pal_tiago_dual/tiago_dual_position.xml
index b2f4fa83..4287ace1 100644
--- a/pal_tiago_dual/tiago_dual_position.xml
+++ b/pal_tiago_dual/tiago_dual_position.xml
@@ -1,40 +1,47 @@
 <mujoco model="tiago_dual">
   
   <include file="tiago_dual.xml"/>
+
+  <default>
+    <default class="position">
+      <position dampratio="1"/>
+    </default>
+  </default>
+
   <actuator>
     <!-- Omni base actuators -->
-    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" ctrlrange="-5 5" kv="2000" />
+    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" ctrlrange="-5 5" kv="2000" />
+    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" ctrlrange="-5 5" kv="2000" />
+    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" ctrlrange="-5 5" kv="2000" />
     
     <!-- Torso actuator -->
-    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="0.98" forcerange="-500 500" dampratio="1.0"/>
+    <position class="position" name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="0.98"/>
     <!-- Head actuators -->
-    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="0.93" forcerange="-5.197 5.197" dampratio="1.0"/>
-    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="0.93" forcerange="-2.77 2.77" dampratio="1.0"/>
+    <position class="position" name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="0.93"/>
+    <position class="position" name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="0.93"/>
 
     <!-- Left arm actuators -->
-    <position name="arm_left_1_joint_position" joint="arm_left_1_joint" inheritrange="1.0" kp="250" dampratio="1.0" forcerange="-53 53"/>
-    <position name="arm_left_2_joint_position" joint="arm_left_2_joint" inheritrange="1.0" kp="1500" dampratio="1.0" forcerange="-53 53"/>
-    <position name="arm_left_3_joint_position" joint="arm_left_3_joint" inheritrange="1.0" kp="600" dampratio="1.0" forcerange="-30 30"/>
-    <position name="arm_left_4_joint_position" joint="arm_left_4_joint" inheritrange="1.0" kp="1000" dampratio="1.0" forcerange="-30 30"/>
-    <position name="arm_left_5_joint_position" joint="arm_left_5_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-3 3"/>
-    <position name="arm_left_6_joint_position" joint="arm_left_6_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
-    <position name="arm_left_7_joint_position" joint="arm_left_7_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
-    <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
-    <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
+    <position class="position" name="arm_left_1_joint_position" joint="arm_left_1_joint" inheritrange="1.0" kp="250"/>
+    <position class="position" name="arm_left_2_joint_position" joint="arm_left_2_joint" inheritrange="1.0" kp="1500"/>
+    <position class="position" name="arm_left_3_joint_position" joint="arm_left_3_joint" inheritrange="1.0" kp="600"/>
+    <position class="position" name="arm_left_4_joint_position" joint="arm_left_4_joint" inheritrange="1.0" kp="1000"/>
+    <position class="position" name="arm_left_5_joint_position" joint="arm_left_5_joint" inheritrange="1.0" kp="80"/>
+    <position class="position" name="arm_left_6_joint_position" joint="arm_left_6_joint" inheritrange="1.0" kp="80"/>
+    <position class="position" name="arm_left_7_joint_position" joint="arm_left_7_joint" inheritrange="1.0" kp="80"/>
+    <position class="position" name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
+    <position class="position" name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
 
     <!-- Right arm actuators -->
-    <position name="arm_right_1_joint_position" joint="arm_right_1_joint" inheritrange="1.0" kp="250" dampratio="1.0" forcerange="-53 53"/>
-    <position name="arm_right_2_joint_position" joint="arm_right_2_joint" inheritrange="1.0" kp="1500" dampratio="1.0" forcerange="-53 53"/>
-    <position name="arm_right_3_joint_position" joint="arm_right_3_joint" inheritrange="1.0" kp="600" dampratio="1.0" forcerange="-30 30"/>
-    <position name="arm_right_4_joint_position" joint="arm_right_4_joint" inheritrange="1.0" kp="1000" dampratio="1.0" forcerange="-30 30"/>
-    <position name="arm_right_5_joint_position" joint="arm_right_5_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-3 3"/>
-    <position name="arm_right_6_joint_position" joint="arm_right_6_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
-    <position name="arm_right_7_joint_position" joint="arm_right_7_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
-    <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
-    <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
+    <position class="position" name="arm_right_1_joint_position" joint="arm_right_1_joint" inheritrange="1.0" kp="250"/>
+    <position class="position" name="arm_right_2_joint_position" joint="arm_right_2_joint" inheritrange="1.0" kp="1500"/>
+    <position class="position" name="arm_right_3_joint_position" joint="arm_right_3_joint" inheritrange="1.0" kp="600"/>
+    <position class="position" name="arm_right_4_joint_position" joint="arm_right_4_joint" inheritrange="1.0" kp="1000"/>
+    <position class="position" name="arm_right_5_joint_position" joint="arm_right_5_joint" inheritrange="1.0" kp="80"/>
+    <position class="position" name="arm_right_6_joint_position" joint="arm_right_6_joint" inheritrange="1.0" kp="80"/>
+    <position class="position" name="arm_right_7_joint_position" joint="arm_right_7_joint" inheritrange="1.0" kp="80"/>
+    <position class="position" name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
+    <position class="position" name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
   </actuator>
 
 </mujoco>
diff --git a/pal_tiago_dual/tiago_dual_velocity.xml b/pal_tiago_dual/tiago_dual_velocity.xml
index 3635a268..3436f09b 100644
--- a/pal_tiago_dual/tiago_dual_velocity.xml
+++ b/pal_tiago_dual/tiago_dual_velocity.xml
@@ -3,16 +3,16 @@
   <include file="tiago_dual.xml"/>
   <actuator>
     <!-- Omni base actuators -->
-    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000" forcerange="-400.0 400.0" />
-    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000" />
+    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000" />
+    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000" />
+    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000" />
     
     <!-- Torso actuator -->
-    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="1.0" forcerange="-2000 2000" />
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="1.0" />
     <!-- Head actuators -->
-    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="1.0" forcerange="-5.197 5.197" />
-    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="1.0" forcerange="-2.77 2.77" />
+    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="1.0" />
+    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="1.0" />
 
     <!-- Left arm actuators -->
     <velocity name="arm_left_1_joint_velocity" joint="arm_left_1_joint" kv="5000" />
@@ -22,8 +22,8 @@
     <velocity name="arm_left_5_joint_velocity" joint="arm_left_5_joint" kv="2000" />
     <velocity name="arm_left_6_joint_velocity" joint="arm_left_6_joint" kv="2000" />
     <velocity name="arm_left_7_joint_velocity" joint="arm_left_7_joint" kv="2000" />
-    <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" />
-    <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" />
+    <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
+    <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
 
     <!-- Right arm actuators -->
     <velocity name="arm_right_1_joint_velocity" joint="arm_right_1_joint" kv="5000" />
@@ -33,8 +33,8 @@
     <velocity name="arm_right_5_joint_velocity" joint="arm_right_5_joint" kv="2000" />
     <velocity name="arm_right_6_joint_velocity" joint="arm_right_6_joint" kv="2000" />
     <velocity name="arm_right_7_joint_velocity" joint="arm_right_7_joint" kv="2000" />
-    <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999"/>
-    <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999"/>
+    <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
+    <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999" forcerange="-5.197 5.197"/>
   </actuator>
 
 </mujoco>